| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi, im able to have rgb point cloud by registration using openni rqt_reconfigure. however, i want to access a pixel in rgb image (camera image_color topic) and find its depth. Which topic should i subscribe depth_registered/image_raw or depth_registered/rect.
I looked at the http://docs.ros.org/api/sensor_msgs/h... . There is no depth in it. How can i access depth value
The Kinect has the problem that not every pixel have an depth value. So it is not easy the get the depth of an pixel.
depthsub_ = it_.subscribeCamera(depth_image_topic, 1, &FrameDrawer::depthImageCb, this);
void depthImageCb(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg)
{
cv::Mat image;
cv_bridge::CvImageConstPtr input_bridge;
try {
input_bridge = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::TYPE_16UC1);// For depth image
// input_bridge = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::TYPE_32FC1);// For depth image
image = input_bridge->image;
}
catch (cv_bridge::Exception& ex){
ROS_ERROR("[draw_frames] Failed to convert image");
return;
}
cv::Point3d xyz = cam_model_.projectPixelTo3dRay(pixel_point); // cv::Point3d ray;
// ray.x = (uv_rect.x - cx() - Tx()) / fx();
// ray.y = (uv_rect.y - cy() - Ty()) / fy();
// ray.z = 1.0;
// return ray;
I have the same question wiht you, even not every pixel has a depth with it , it maybe because the direction of camera or some obstacle before the target. Above is just get the 2d point and the 3d ray, but I don't understand what is the next to get the specific point in 3D
Asked: 2015-08-28 21:16:31 -0500
Seen: 1,158 times
Last updated: Aug 31 '15
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.