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CvBridge: depth registration for depth and rgb opencv images and convert to ros image msg

cvbridge

asked 2018-01-17 18:21:38 -0500

Oh233
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What I want to do basically is publishing depth_registred image on topic. I already have opencv depth and rgb images and the transformation between them. I wonder should I finish depth registration first and then use CvBridge to convert it to ros image msg or convert depth and rgb images to two ros image msgs and finish depth registration? I have tried the first way but I am stuck at the step of converting to ros image msg since I can't find specific encoding for RGBD image. Thanks in advance for any suggestion.

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answered 2018-01-18 03:08:49 -0500

PeteBlackerThe3rd

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All the RGB-D cameras I've worked with in ROS publish their RGB and depth (registered) on different image topics. There is no RGB-D type as far as I know, it would be messy anyway because the depth channel is usually a positive floating point channel (in meters) and the RGB channels are 8 bit intensities. You could maybe get away with a 4 channel float image but it would not be the most bandwidth efficient.

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But when launching Kinect2 on ROS by freenect_camera package, it does publish depth_registered image on topic. Hence I wonder how does it get depth_registered image.