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Is pointcloud compressable?

asked 2014-05-19 22:12:40 -0500

silgon gravatar image

updated 2014-11-22 17:05:46 -0500

ngrennan gravatar image

I'm using the PR2 and when I'm sending the date through the network I'm having lag problems. And for example, when I receive the image of one of the cameras, there's a topic in which the information is compressed (format: image_topic/compressed), and this way I can speed up things. So I would like to know if it's possible to do the pointcloud generated by the kinect in a compressed format. Or in other case, is there a launch file (or something like that) in which I can take the compressed image and depth image and convert them to pointcloud?

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answered 2014-05-19 22:19:51 -0500

ahendrix gravatar image

updated 2014-05-23 09:12:10 -0500

Check out the compressed_depth_image_transport.

I think the Willow Garage interactive_manipulation pipeline and the oculus rift demo both make pretty heavy use of depth image compression to reduce the network bandwidth and lag problems.

You can take a look at the launch files for the PR2 Oculus Rift demo (pr2_surrogate) for an example of how to do this:

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@ahendrix the problem is not the compressed image, I can use the compressed image, but how could I generate from those images (normal image and depth image) a pointcloud image.

silgon gravatar image silgon  ( 2014-05-22 23:24:56 -0500 )edit

Is your question: How to convert a depth image to a pointcloud?

Airuno2L gravatar image Airuno2L  ( 2014-12-08 08:02:43 -0500 )edit

answered 2014-12-08 04:15:08 -0500

stark gravatar image

hey silgon, were you able to convert compressed image & depth to pointclouds?

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Asked: 2014-05-19 22:12:40 -0500

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Last updated: Dec 08 '14