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Getting point cloud from image_rect_color using stereo_image_proc

asked 2015-09-27 22:08:45 -0500

I have a bag publishing left and right camera_info and image_rect_color topics. How can I use stereo_image_proc to get the point cloud?

stereo_image_proc/disparity nodelet subscribes to image_rect and gives out disparity, which can be used by the stereo_image_proc/point_cloud2 nodelet.

Do I need to modify the source code, make a custom launch file or this can be done via an easier way that I am unable to see immediately? Afai understand, I have to convert to mono image and then maybe remap or publish to the relevant topic.

ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc -> here the whole node subscribes to raw images which I don't have as a topic.

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https://github.com/ros-perception/ima... . Read the source. So, I need to comment out the debayer and rectify blocks. But I need an image_rect from image_rect_color(color to mono basically?) and then I can use the two nodelets.

ratneshmadaan gravatar imageratneshmadaan ( 2015-09-27 22:47:09 -0500 )edit

As I had zero distortion - plumb bob model, with the parameters needed being [0,0,0,0,0], all I needed to do was remap: rosbag play my_bag_file.bag /my_cam/left/image_rect_color:=/my_cam/left/image_raw /my_cam/right/image_rect_color:=/my_cam/right/image_raw

ratneshmadaan gravatar imageratneshmadaan ( 2015-09-29 00:40:22 -0500 )edit

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answered 2015-09-29 00:40:35 -0500

updated 2015-09-29 00:40:52 -0500

As I had zero distortion - plumb bob model, with the parameters needed being {0,0,0,0,0}, all I needed to do was remap: rosbag play my_bag_file.bag /my_cam/left/image_rect_color:=/my_cam/left/image_raw /my_cam/right/image_rect_color:=/my_cam/right/image_raw

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Asked: 2015-09-27 22:08:45 -0500

Seen: 282 times

Last updated: Sep 29 '15