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Getting an (x, y) -> depth map in Python from a Kinect? [closed]

asked 2011-05-27 02:50:28 -0500

Pi Robot gravatar image

updated 2016-10-24 09:03:33 -0500

ngrennan gravatar image

I'm going around in circles trying to solve what I think is a simple problem: using Python (not C++), I would like to get the depth values corresponding to the points in the RGB image returned from the Kinect at a given (x, y) coordinate. I am subscribing to /camera/rgb/image_color and using cv_bridge and OpenCV's face detector to get the bounding box around a face. I then want to get the depth values for each point (or a subsample of points) in that box. So I need to be able to pick (x, y) coordinates (which I know) from within the box and get back the depth values for those points.

I tried subscribing to /camera/depth/image which is a 32FC1 image type and I thought this was going to work but I ran into "index out of range" errors when accessing points that should have been within the proper width and height boundaries of the image.

Although I realize there are no Python bindings for PCL )-:, I found this nice utility on this forum so I'm wondering if I should be using point clouds rather than images to get the depth values?

Any ideas?


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Closed for the following reason the question is answered, right answer was accepted by Wim
close date 2011-08-02 11:37:19


"I tried subscribing to /camera/depth/image which is a 32FC1 image type ... but I ran into "index out of range" errors" - that's weird. In c++ this works.
Felix Endres gravatar imageFelix Endres ( 2011-05-27 03:25:43 -0500 )edit
Thanks Felix--see my answer below. BTW, do you get a black border (all 0's) around your depth image? It looks to be about 5 pixels on a 160x120 image.
Pi Robot gravatar imagePi Robot ( 2011-05-27 06:28:43 -0500 )edit
No, I get mostly NaNs at the border. But it's not like a rectangular frame, because of the lens distortion.
Felix Endres gravatar imageFelix Endres ( 2011-05-27 23:44:49 -0500 )edit
OK, when I look more closely on a higher resolution image I can see it is not perfectly rectangular. Also it looks like my script was converting NaNs to 0's.
Pi Robot gravatar imagePi Robot ( 2011-05-28 01:22:56 -0500 )edit

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answered 2011-05-27 06:27:53 -0500

Pi Robot gravatar image

Thanks to Felix's comment, I went back to the /camera/depth/image approach and finally realized I was swapping rows and columns in one of the statements which is why I was getting "index out of range errors". So repeat after me: an image that has m X n pixels has n X m rows and columns. :-)


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hello I want to subscribe to rgb and depth image simultaneously and publish it to multiple topics using one node in cvbrige, plz plz can u provide me ur code, I m in trouble

ros gravatar imageros ( 2013-06-12 08:27:37 -0500 )edit

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Asked: 2011-05-27 02:50:28 -0500

Seen: 1,806 times

Last updated: May 27 '11