Is pointcloud compressable?

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

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

ngrennan
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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

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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: https://github.com/ros-interactive-ma...

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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.