Decimation function of image_proc for dropping depth image resolution
Hi all,
Currently I am trying to use imageproc/cropdecimate to reduce the both rgb and depth image resolution of a sensor that I am using. I was able to drop the resolution for rgb image using decimationx and decimationy parameters. But for depth image case, it did not work. I am wondering if this imageproc/cropdecimate function is not for depth image, but only for rgb image. I am using Ubuntu 14.04 and ROS indigo. Is there anyone who has dealt with imageproc/cropdecimate for depth image? If there is something I missed, please let me know.
Thank you.
--edit
This is what my lauch file looks like
<launch>
<!-- Image_proc -->
<node pkg="image_proc" type="image_proc" name="image_proc">
</node>
<node pkg="nodelet" type="nodelet" name="downsample_depth" args="standalone image_proc/crop_decimate">
<param name="decimation_x" type="int" value="4"/>
<param name="decimation_y" type="int" value="4"/>
<!-- remap input topics -->
<remap from="camera/image_raw" to="Your_sensor/image_depth"/>
<remap from="camera/image_info" to="Your_sensor/camera_info"/>
<!-- remap output topics -->
<remap from="camera_out/image_raw" to="image_depth_in"/>
<remap from="camera_out/camera_info" to="depth_camera_info_in"/>
</node>
<node "Other package related nodes" />
</launch>
I simply replaced my real rostopic name of sensor with "Yoursensor". This works for RGB image, but for depth image like the above launch file, it does not work. I also checked that Yoursensor/imagedepth and Yoursensor/camerainfo rostopics being published correctly while rostopic echo /imagedepth_in command gave nothing.
Asked by yoo00 on 2014-10-06 11:18:26 UTC
Comments
I have some vague memory that this should probably work, but it's been a few years since I looked at it.
It may help if you describe exactly how the crop_decimate nodelet didn't work in your case, and the commands and launch files that you were using.
Asked by ahendrix on 2014-10-06 13:35:37 UTC
I just edited my question. Hope you could remember something from it. Thanks.
Asked by yoo00 on 2014-10-06 17:01:02 UTC
I don't remember anything else offhand, but hopefully someone else will see this and be able to offer an answer. You may also want to play around with rqt_graph to confirm that your topics are connected properly and inspect the data rates on each topic.
Asked by ahendrix on 2014-10-06 17:51:43 UTC