Which topics to use?

asked 2012-04-26 03:08:23 -0500

niosus

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updated 2016-10-24 08:59:52 -0500

ngrennan
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Hi all!

I am currently deciding which topics from the kinect camera should I use. As I am absolutely new to ROS I thought that maybe someone with more experience could suggest an appropriate way.

In the end I need data, which would contain color and depth information for each pixel of recordered images. I also need to represent this information as a 4D array (or 3D for color + 1D for depth) of raw numbers as I need to process them afterwards.

By now I recorded a bag file with topics:

/camera/rgb/image_raw
/camera/depth/image_raw

But then I found this article and am considering to record a new bag file with topics:

/camera/rgb/image_color -- this gives me a color image
/camera/depth/image_raw -- this gives me depth in mm

I am thinking of then converting image_color via this (part 1.5) method to a cv::Mat format.

I would be very grateful if anyone would say if I'm thinking in the right direction. Thank you in advance.

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You should probably record the corresponding /camera/*/camera_info topics, too. They contain useful calibration information.

joq ( 2012-04-26 04:14:03 -0500 )edit

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Thank you, I already looked at it, but I would prefer to have separately rgb image and depth image as matrices, so that color of the pixel can be taken from one matrix and depth from the other. But I have to think - maybe I can produce those from the point clouds.

niosus ( 2012-04-26 22:28:26 -0500 )edit

Thank you, I already looked at it, but I would prefer to have separately rgb image and depth image as matrices, so that color of the pixel can be taken from one matrix and depth from the other.

niosus ( 2012-04-26 22:28:29 -0500 )edit

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