No Register Data from Kinect

asked 2014-03-24 10:52:52 -0600

pinocchio gravatar image

updated 2016-10-24 08:36:36 -0600

ngrennan gravatar image

Hi, I am using Kinect Xbox360 on ROS Hydro and Ubuntu 12.10, following the instruction openni_launch/hydro http://wiki.ros.org/openni_launch/hydro .

While it works well for rosrun image_view disparity_view image:=/camera/depth/disparity, it cannot display data for registered image.

I run rosrun dynamic_reconfigure reconfigure_gui 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 valid_window: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False min_disparity: 9.84375 max_disparity: 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

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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.

pinocchio gravatar image pinocchio  ( 2014-03-25 10:17:16 -0600 )edit

What would you expect the registered disparity to be? RGBDSLAM doesn't use the disparity.

Felix Endres gravatar image Felix Endres  ( 2014-03-27 00:53:31 -0600 )edit

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.

pinocchio gravatar image pinocchio  ( 2014-03-27 05:03:35 -0600 )edit