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openni2 color point cloud

asked 2014-04-22 22:49:36 -0600

Maya gravatar image

updated 2014-04-22 22:51:20 -0600


When I was using openni2_launch in groovy I had a topic camera/depth/points_xyzrgba. Or now I have only camera/depth/points. Is there any reason for that ? How can I recover the color of the Point Cloud now ?


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answered 2014-10-01 09:11:16 -0600

agoins gravatar image

For openni2_launch, there are several arguments that need to be set in order to get color point clouds. For the ASUS sensors, all you have to do is set depth_registration:=true, which will enable the hardware to create the color point clouds. This should give you /depth_registered/points which you can display in color. If you want to create color point clouds using software instead of hardware, then set depth_registration to false, and rgb_processing, depth_processing, and depth_registered_processing to true (should be set by default in openni2.launch). This should give you /depth/points which is not color, and /depth_registered/points which is in color. The problem I have discovered is that /depth_registered/points does not display correctly when using software depth registration. I do not get a color point cloud unless part of the camera is occluded and the point cloud is very small.

I would be curious to know if anyone else has had this problem or if it is repeatable for anyone else.

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answered 2014-04-22 23:31:29 -0600

Maya gravatar image

Ok I've found a work-around as I'm just using openni2_launcher of groovy. But why did it change ?

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Asked: 2014-04-22 22:49:36 -0600

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Last updated: Apr 22 '14