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How do you use depth_image_proc?

asked 2012-04-15 02:41:13 -0600

Kevin gravatar image

updated 2016-10-24 08:58:59 -0600

ngrennan gravatar image

Since there is no tutorial for this, how do I use these nodelets to convert a Kinect depth image into a PCL point cloud?

kinect -> point_cloud_xyz -> cloud

or do I need to use convert_metric?

kinect -> convert_metric -> point_cloud_xyz -> cloud

and if I want and xyzrgb pcl cloud (note this is a simplification and I don't know if I need convert_metric)

kinect -> register -> point_cloud_xyzrgb -> cloud

I would greatly appreciate an example roslaunch file if anyone has it. Thanks

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answered 2012-04-16 07:40:23 -0600

bhaskara gravatar image

updated 2012-04-16 07:41:25 -0600

Here's one that I use: https://gist.github.com/2400165 . It assumes depth_registration is turned on. In answer to your question, you do need convert_metric, to convert from mm to m.

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Asked: 2012-04-15 02:41:13 -0600

Seen: 5,170 times

Last updated: Apr 16 '12