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Depth map from bumblebee2 camera?

asked 2013-12-09 04:57:32 -0500

sofiad gravatar image

Hi, I am trying to get the coordinates in space (X,Y,Z) of an object. For this, I am detecting the object using the image from the bumblebee's left camera (from here I can obtain the X and Y coordinates), and would like to obtain the Z-coordinate. I have the code for doing this with an Asus Xtion, but this uses a depth map. Can I get a depth map as well from my bumblebee2 camera? Or should I just use the disparity image I get from stereo_image_proc?


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You probably want to use the points2 data type

mortonjt gravatar image mortonjt  ( 2014-01-04 07:43:14 -0500 )edit

Did you solve the problem? As i kown, There exist a package called"stereo_image_proc" which publish the disparity, and the "stereo_image_proc" package have a file "point_cloud2.cpp" you can get the depth of z in it(or need some transform).

Winston gravatar image Winston  ( 2016-06-21 11:13:33 -0500 )edit

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answered 2014-05-16 07:29:39 -0500

vvaquero gravatar image

have you manage to solve it? I am in the same situation... would like to get the depth image but stereo_image_proc is only giving the disparity one. The transformation is easy (Z=T*f/d) , but I suppose there must be any node that implement this, and gives values or interpolate the value of the disparity nan, 0 and inf pixels....

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(+1 for karma)

martimorta gravatar image martimorta  ( 2014-05-16 07:54:48 -0500 )edit

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Asked: 2013-12-09 04:57:32 -0500

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Last updated: Jun 21 '16