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Interprete PointCloud2 messages of Kinect

asked 2012-03-28 09:46:14 -0500

flag of Germany

427 ●31 ●42 ●51

updated 2016-10-24 09:00:38 -0500

ngrennan
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Hi everyone,

how do I get the distance values out of the PointCloud2 message produced by a Kinect sensor efficiently? At the moment I use a loop iterating all points and writing the z-value to a file.

Thanks for your help

Sebastian

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answered 2012-03-28 11:35:12 -0500

flag of United States of America

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

Take a look at the pcl_ros tutorials; this will get you a PCL point cloud, rather than a ROS PointCloud2; the PCL version comes with all kinds of useful gadgetry.

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answered 2012-03-28 13:42:27 -0500

f_r
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If you only need the depth values, just subscribe to /camera/depth_registered/image_rect_raw which gives you depth values in mm.

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Asked: 2012-03-28 09:46:14 -0500

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