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Problem in running depth_image_proc ion ROS Hydro [closed]

asked 2014-07-16 04:46:18 -0500

m1ckey gravatar image

Hi,

I want to use the depth_image_proc to create a point cloud reconstructed scene.I have kept running uvc_camera package using $ roslaunch uvc_camera stereo_node.launch

when I am trying to run the package as $ rosrun depth_image_proc depth_image_proc

I get the following.

[rosrun] Couldn't find executable named depth_image_proc below /opt/ros/hydro/share/depth_image_proc

[rosrun] Found the following, but they're either not files,

[rosrun] or not executable:

[rosrun] /opt/ros/hydro/share/depth_image_proc

The same happens for stereo_image_proc. Please help me out. I save sourced all the setup.bash files.

Thanks in advance.

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Closed for the following reason the question is answered, right answer was accepted by m1ckey
close date 2014-09-24 11:57:55.337465

1 Answer

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answered 2014-08-27 07:41:00 -0500

Sergio MP gravatar image

updated 2014-09-17 07:55:37 -0500

Hello m1ckey, The thing is that the depth_image_proc isn't a package of nodes but one of nodelets. You can find out that by reading the documentation: http://wiki.ros.org/depth_image_proc?... . To use them, I recommend using a .launch file. You first need a nodelet manager, and then the nodelets that you need, which are listed on the documentation with their required topic inputs and outputs. As you'll see on the following code, you may remap the standard topic names to the ones you're using on your program.

Here, check out this example for using the nodelet that transforms a RGB Image and a Depth Image into a Point Cloud2.


<!-- Convert the depth image and the rgb image into a xyzrgb Point Cloud -->
      <launch>
<arg name="ns" value="/your_namespace"/>
<arg name="sdepth_subfolder" value="$(arg ns)/sd"/>
<arg name="srgb_subfolder" value="$(arg ns)/srgb"/>

<arg name="pc2_subfolder" value="$(arg ns)/point_cloud2"/>
<arg name="sd_on_rgb_frame" value="$(arg ns)/sd_on_rgb_frame"/> 

 <!-- Nodelet manager for this pipeline -->
<node pkg="nodelet" type="nodelet" args="manager" name="depth_transforms_manager" output="screen"/>

 <!-- Convert to point cloud -->
<node pkg="nodelet" type="nodelet" name="cloudify"
args="load depth_image_proc/point_cloud_xyzrgb depth_transforms_manager --no-bond">

    <!-- Input: Camera calibration and metadata.  (sensor_msgs/CameraInfo) -->
    <remap from="rgb/camera_info"      to="$(arg srgb_subfolder)/camera_info"/> 
    <!-- Input: Rectified color image. (sensor_msgs/Image) -->
    <remap from="rgb/image_rect_color" to="$(arg srgb_subfolder)/scene_rgb_cam_wf"/> 
    <!-- Input: Rectified depth image, registered to the RGB camera. (sensor_msgs/Image) -->
    <remap from="depth_registered/image_rect" to="$(arg sd_on_rgb_frame)/image_wf"/>        
    <!-- Output: XYZ point cloud. If using PCL, subscribe as PointCloud<PointXYZ>.  (sensor_msgs/PointCloud2)  -->
    <remap from="depth_registered/points" to="$(arg pc2_subfolder)/points"/>

</node>
      </launch>

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Thanks..I got my answer. Can I close this question?

m1ckey gravatar imagem1ckey ( 2014-09-17 08:19:47 -0500 )edit

If it solved your problem, please do so =). Cheers

Sergio MP gravatar imageSergio MP ( 2014-09-24 11:08:20 -0500 )edit

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Asked: 2014-07-16 04:46:18 -0500

Seen: 871 times

Last updated: Sep 17 '14