No Register Data from Kinect
Hi, I am using Kinect Xbox360 on ROS Hydro and Ubuntu 12.10, following the instruction opennilaunch/hydro http://wiki.ros.org/opennilaunch/hydro.
While it works well for rosrun imageview disparityview image:=/camera/depth/disparity, it cannot display data for registered image.
I run rosrun dynamicreconfigure reconfiguregui first to enable the depth_registration.
Then as I run rostopic eho /camera/depth_registered/disparity, the feedback on terminal is as follows.
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] f: 525.0 T: 0.0750000029802 validwindow: xoffset: 0 yoffset: 0 height: 0 width: 0 dorectify: False mindisparity: 9.84375 maxdisparity: 78.75 delta_d: 0.125
Hence, I have two questions. 1. How to fix the above problem, to show the registered image? 2. My goal is to use RGBDSlam on the Kinect and ROS. Will the above problem have any influence on RGBDSlam?
I am a beginner to ROS and Ubuntu, could you guys give me some step by step suggestions? Many thanks.
Best,
Alex
Asked by pinocchio on 2014-03-24 10:52:52 UTC
Comments
Can anybody help me? I can display the unregistered RGB and Depth image, but cannot show the registered image, even after rosrun rqt_reconfigure rqt_reconfigure.
Asked by pinocchio on 2014-03-25 10:17:16 UTC
What would you expect the registered disparity to be? RGBDSLAM doesn't use the disparity.
Asked by Felix Endres on 2014-03-27 00:53:31 UTC
Hi @Felix Endres, thanks for your help. I am happy to hear that RGBDSLAM does not use the registered disparity. But I am wondering if I will use the registered one in the future.
Asked by pinocchio on 2014-03-27 05:03:35 UTC