Depth registered and rgb shift why ?

asked 2014-07-24 04:26:24 -0600

ROSkinect gravatar image

updated 2014-07-24 04:44:57 -0600

ccapriotti gravatar image

According to the documentation: registration is matching depth to color, it means like the depth and rgb are in the same frame but why I get a shift between the two images.

What I actually do is subscribing to RBG kinect topic (/camera/rgb/image_color) and depth topic (/camera/depth_registered/image_raw) and I try to blend the two images using opencv function like this:

image description

and when I'm little bit far from the kinect, the shift disappear:

image description

The question, as you can understand is why I get the shift ?

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Have you calibrated the camera?

McMurdo gravatar imageMcMurdo ( 2014-07-24 05:16:29 -0600 )edit

normally using the depth_registered topic we get the camera calibrated

ROSkinect gravatar imageROSkinect ( 2014-07-24 05:36:10 -0600 )edit

Try to visualize depth_registered/points topic in rviz and see if you have an offset there.

McMurdo gravatar imageMcMurdo ( 2014-07-24 05:58:44 -0600 )edit

OK thank you I'll look that

ROSkinect gravatar imageROSkinect ( 2014-07-24 06:35:06 -0600 )edit