How to use image_proc node

asked 2015-03-11 07:17:57 -0500

rdhn
51 ●10 ●14 ●15

updated 2015-03-11 07:35:52 -0500

Using Xtion on Ubuntu with ROS hydro. Ran openni2_launch to the launch camera drivers.

$ rostopic list

/camera/rgb/image_raw

/camera/rgb/camera_info

and many other topics /camera/depth/.. camera/ir/..

ROS_NAMESPACE=camera rosrun image_proc image_proc

tells me to advertise /camera/image_raw first.

I was assuming my camera drivers are publishing to /camera/image_raw and camera/camera_info by default which I suppose image_proc will subscribe to publish image_mono or image_rect image but apparently they are publishing /camera/rgb/image_raw and camera/rgb/camera_info. What is the difference between /camera/image_raw and /camera/rgb/image_raw and how should I publish /camera/image_raw.

answered 2015-03-11 10:06:10 -0500

Wolf

7555 ●71 ●105 ●162

updated 2015-03-12 02:39:57 -0500

If your cam driver topics are

/camera/rgb/image_raw

/camera/rgb/camera_info

I guess you should start the image_proc node like:

ROS_NAMESPACE=camera/rgb rosrun image_proc image_proc

Update with explanations:

The ROS_NAMESPACE=camera/rgb puts all topics of the node into this namespace. Initially if you run

rosrun image_proc image_proc

it will listen to the topics

/image_raw

/camera_info

. If you than change the call into

ROS_NAMESPACE=camera rosrun image_proc image_proc

as mentioned in the tutorial it will listen to

/camera/image_raw

/camera/camera_info

. However, your camera driver apparently publishes to the /camera/rbg namespace so your call will be

ROS_NAMESPACE=camera/rgb rosrun image_proc image_proc

such that the image_proc node listens to the topics of your camera driver which are:

/camera/rgb/image_raw

/camera/rgb/camera_info

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Comments

can you please explain what is actually happening?

rdhn ( 2015-03-11 12:59:47 -0500 )edit

Please see the edit

Wolf ( 2015-03-12 02:40:15 -0500 )edit

thank you for the explanation. can you also give me the command list to convert depth image to XYZ point cloud using depth_image_proc/point_cloud_xyz nodelet of depth_image_proc.

rdhn ( 2015-03-12 03:37:46 -0500 )edit

Sorry, don't know this. Please feel free to open new thread on that, if you can not find it in the docs/tutorials

Wolf ( 2015-03-12 08:05:12 -0500 )edit

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