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Is depth registered image bigger than depth image in size?

asked 2014-07-24 20:07:59 -0600

Xegara gravatar image

Is depth registered image bigger than depth image in size? I can't seem to find the answer in the internet.

I needed to know this for optimization in wireless image streaming. When I stream two openni2 cameras in one wifi network, sometimes it just drop frames. I was thinking if depth registered is larger than depth image, maybe I can just register the image in the base station, thus save bandwidth.

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answered 2014-07-24 21:13:12 -0600

Hi there!

According to the headers of /camera/depth/image:

$ rostopic echo -n 1 /camera/depth/image | head
header: 
  seq: 304
  stamp: 
    secs: 1406254046
    nsecs: 731604330
  frame_id: /camera_depth_optical_frame
height: 480
width: 640
encoding: 32FC1
is_bigendian: 0

and the headers of /camera/depth_registered/image_raw:

$ rostopic echo -n 1 /camera/depth_registered/image_raw | head
header: 
  seq: 0
  stamp: 
    secs: 1406254097
    nsecs: 573718779
  frame_id: /camera_depth_optical_frame
height: 480
width: 640
encoding: 32FC1
is_bigendian: 0

They both are the same size: width, height and encoding are the same.

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how did you get that ? when I launch the command I get nothing !

ROSkinect gravatar imageROSkinect ( 2014-07-25 02:53:08 -0600 )edit
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you should be running "roslaunch openni_launch openni.launch" or "roslaunch openni2_launch openni2.launch" (depending on your RGBD sensor) on a separate terminal.

Martin Peris gravatar imageMartin Peris ( 2014-07-25 04:30:18 -0600 )edit
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answered 2014-07-25 02:47:18 -0600

ROSkinect gravatar image

updated 2014-07-25 02:52:03 -0600

It's due to the change frame. because depth_registered is aligned with camera rgb: the system is calibrated, then this topic /camera/depth_registered/image_raw comes from this one /camera/depth/image but by adding intrinsic parameters.

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Asked: 2014-07-24 20:07:59 -0600

Seen: 558 times

Last updated: Jul 25 '14