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Using custom publisher with RGBDSlam

asked 2011-09-02 07:03:20 -0500

paul simmons gravatar image

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

ngrennan gravatar image

I plan to try RGBDSlam on a pre recorded data. For that I have written a publisher which reads my data from text files and publishes. However the result that I get is not very good and also I have seen that depth image seen on RGBDSlam is only black and white.

I am publishing:

  • /camera/rgb/image_mono which is a grayscale image sent through cvbridge

  • /camera/depth/image, which is a IPL_DEPTH_32F IplImage, filled with depth values (in meters) and again sent through cvbridge

  • /camera/rgb/points which is generated as a vector of PointXYZRGB

The point cloud and mono image are ok, I can see them clearly in RGBDSlam, however seeing depth image as I have mentioned makes me suspect that I am missing something. Am I?


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answered 2011-09-02 10:17:56 -0500

Mac gravatar image

The depth image is only black and white; the grayscale values map to depths. RGBDSlam also works with the grayscale version of the RGB image (because that's what the visual feature library needs).

See this question for some more details of what RGBDSlam expects as input.

Out of curiosity, why are you storing your data in text files, rather than using rosbag?

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answered 2011-09-04 19:33:47 -0500

Hi Paul, are the depth images black and white in the binary sense (i.e. not grayscale)? Can you present a screenshot? Also your publisher code for the depth image would be interesting to see.

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Asked: 2011-09-02 07:03:20 -0500

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Last updated: Sep 04 '11