xtion depth_image to point_cloud

asked 2015-05-22 03:32:06 -0600

MarkyMark2012 gravatar image

updated 2015-05-26 13:36:43 -0600

Hi All,

Now I know I missing something supid here - I#m usnig the launch script below to convert the depth_image into a point cloud. What am I missing. The service starts but my topics aren't linking up


I've updated the launch file to make it simpler

    <!-- 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_xyz depth_transforms_manager --no-bond">

    <!-- Input: Camera calibration and metadata.  (sensor_msgs/camera_info) -->
    <remap from="camera_info"      to="/openni2_camera/depth/camera_info"/> 
    <!-- Input: Rectified depth image, registered to the RGB camera. (sensor_msgs/Image) -->
    <remap from="image_rect" to="/openni2_camera/depth/image_raw"/>        
    <!-- Output: XYZ point cloud. If using PCL, subscribe as PointCloud<PointXYZ>.  (sensor_msgs/PointCloud2)  -->
    <remap from="points" to="/openni2_camera/depth/points"/>


This are the available topics

image description

UPDATE: And now I can see Cloudify and the depth_transform_manager

image description

However I there is no connectivity between the depth_transform_manager and the openni2_camera depth topics and I can't see why not? camera_info and image_rect should be remapped to /openni2_camera/depth/camera_info and /openni2_camera/depth/image_raw respectively.

Any suggestions?

Many Thanks


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Maybe you need to add a forward slash at the beginning of the topic names?

yohtm gravatar image yohtm  ( 2015-05-22 09:15:39 -0600 )edit

Hi, did you manage to solve this problem?

jpgc gravatar image jpgc  ( 2016-09-25 09:01:41 -0600 )edit

@jpgc - no unfortunately. If you find a solution please let me know

MarkyMark2012 gravatar image MarkyMark2012  ( 2016-09-26 06:22:22 -0600 )edit

@MarkyMark2012 i didn't find a solution but i managed to do the conversion in another way.

jpgc gravatar image jpgc  ( 2016-09-27 11:12:25 -0600 )edit

@jpgc - could you let me know. Cheers

MarkyMark2012 gravatar image MarkyMark2012  ( 2016-09-28 01:14:45 -0600 )edit

Sure, i found this script to do the conversion and this one.

jpgc gravatar image jpgc  ( 2016-09-29 08:18:08 -0600 )edit