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Stereo Camera does not generate depth image

asked 2019-07-03 16:03:26 -0500

mibclaric gravatar image

updated 2019-07-03 17:49:24 -0500

jayess gravatar image

My camera is a usb driverless stereo camera that generate both left and right images into one. I'm trying to get the depth image from the camera but after split the images and running the stereo_image_proc there is no topic as "camera/depth/image" but only compressedDepth and which can not be viewed. Is there any package to generate depth image or convert the compresseddepth to viewable depth image? The topic list is shown below


/sxs_stereo/disparity
/sxs_stereo/left/camera_info
/sxs_stereo/left/image_color
/sxs_stereo/left/image_color/compressed
/sxs_stereo/left/image_color/compressed/parameter_descriptions
/sxs_stereo/left/image_color/compressed/parameter_updates
/sxs_stereo/left/image_color/compressedDepth
/sxs_stereo/left/image_color/compressedDepth/parameter_descriptions
/sxs_stereo/left/image_color/compressedDepth/parameter_updates
/sxs_stereo/left/image_color/theora
/sxs_stereo/left/image_color/theora/parameter_descriptions
/sxs_stereo/left/image_color/theora/parameter_updates
/sxs_stereo/left/image_mono
/sxs_stereo/left/image_mono/compressed
/sxs_stereo/left/image_mono/compressed/parameter_descriptions
/sxs_stereo/left/image_mono/compressed/parameter_updates
/sxs_stereo/left/image_mono/compressedDepth
/sxs_stereo/left/image_mono/compressedDepth/parameter_descriptions
/sxs_stereo/left/image_mono/compressedDepth/parameter_updates
/sxs_stereo/left/image_mono/theora
/sxs_stereo/left/image_mono/theora/parameter_descriptions
/sxs_stereo/left/image_mono/theora/parameter_updates
/sxs_stereo/left/image_raw
/sxs_stereo/left/image_raw/compressed
/sxs_stereo/left/image_raw/compressed/parameter_descriptions
/sxs_stereo/left/image_raw/compressed/parameter_updates
/sxs_stereo/left/image_raw/compressedDepth
/sxs_stereo/left/image_raw/compressedDepth/parameter_descriptions
/sxs_stereo/left/image_raw/compressedDepth/parameter_updates
/sxs_stereo/left/image_raw/theora
/sxs_stereo/left/image_raw/theora/parameter_descriptions
/sxs_stereo/left/image_raw/theora/parameter_updates
/sxs_stereo/left/image_rect
/sxs_stereo/left/image_rect/compressed
/sxs_stereo/left/image_rect/compressed/parameter_descriptions
/sxs_stereo/left/image_rect/compressed/parameter_updates
/sxs_stereo/left/image_rect/compressedDepth
/sxs_stereo/left/image_rect/compressedDepth/parameter_descriptions
/sxs_stereo/left/image_rect/compressedDepth/parameter_updates
/sxs_stereo/left/image_rect/theora
/sxs_stereo/left/image_rect/theora/parameter_descriptions
/sxs_stereo/left/image_rect/theora/parameter_updates
/sxs_stereo/left/image_rect_color
/sxs_stereo/left/image_rect_color/compressed
/sxs_stereo/left/image_rect_color/compressed/parameter_descriptions
/sxs_stereo/left/image_rect_color/compressed/parameter_updates
/sxs_stereo/left/image_rect_color/compressedDepth
/sxs_stereo/left/image_rect_color/compressedDepth/parameter_descriptions
/sxs_stereo/left/image_rect_color/compressedDepth/parameter_updates
/sxs_stereo/left/image_rect_color/theora
/sxs_stereo/left/image_rect_color/theora/parameter_descriptions
/sxs_stereo/left/image_rect_color/theora/parameter_updates
/sxs_stereo/points2
/sxs_stereo/right/camera_info
/sxs_stereo/right/image_color
/sxs_stereo/right/image_color/compressed
/sxs_stereo/right/image_color/compressed/parameter_descriptions
/sxs_stereo/right/image_color/compressed/parameter_updates
/sxs_stereo/right/image_color/compressedDepth
/sxs_stereo/right/image_color/compressedDepth/parameter_descriptions
/sxs_stereo/right/image_color/compressedDepth/parameter_updates
/sxs_stereo/right/image_color/theora
/sxs_stereo/right/image_color/theora/parameter_descriptions
/sxs_stereo/right/image_color/theora/parameter_updates
/sxs_stereo/right/image_mono
/sxs_stereo/right/image_mono/compressed
/sxs_stereo/right/image_mono/compressed/parameter_descriptions
/sxs_stereo/right/image_mono/compressed/parameter_updates
/sxs_stereo/right/image_mono/compressedDepth
/sxs_stereo/right/image_mono/compressedDepth/parameter_descriptions
/sxs_stereo/right/image_mono/compressedDepth/parameter_updates
/sxs_stereo/right/image_mono/theora
/sxs_stereo/right/image_mono/theora/parameter_descriptions
/sxs_stereo/right/image_mono/theora/parameter_updates
/sxs_stereo/right/image_raw
/sxs_stereo/right/image_raw/compressed
/sxs_stereo/right/image_raw/compressed/parameter_descriptions
/sxs_stereo/right/image_raw/compressed/parameter_updates
/sxs_stereo/right/image_raw/compressedDepth
/sxs_stereo/right/image_raw/compressedDepth/parameter_descriptions
/sxs_stereo/right/image_raw/compressedDepth/parameter_updates
/sxs_stereo/right/image_raw/theora
/sxs_stereo/right/image_raw/theora/parameter_descriptions
/sxs_stereo/right/image_raw/theora/parameter_updates
/sxs_stereo/right/image_rect
/sxs_stereo/right/image_rect/compressed
/sxs_stereo/right/image_rect/compressed/parameter_descriptions
/sxs_stereo/right/image_rect/compressed/parameter_updates
/sxs_stereo/right/image_rect/compressedDepth
/sxs_stereo/right/image_rect/compressedDepth/parameter_descriptions
/sxs_stereo/right/image_rect/compressedDepth/parameter_updates
/sxs_stereo/right/image_rect/theora
/sxs_stereo/right/image_rect/theora/parameter_descriptions
/sxs_stereo/right/image_rect/theora/parameter_updates
/sxs_stereo/right/image_rect_color
/sxs_stereo/right/image_rect_color/compressed
/sxs_stereo/right ...
(more)
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answered 2019-07-05 11:11:16 -0500

ahendrix gravatar image

The wiki page for stereo_image_proc says that is publishes disparity and points2 topics. I see both of those in your output:

/sxs_stereo/disparity
/sxs_stereo/points2

You can usually use those images for 3D processing, depending on your application. If you really need a depth image for some reason, you can probably find a node to convert the disparity image to a depth image.

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Thank you! That makes sense! However, when I try to run the point cloud on rviz, there is an error message showed up that the topic "/sxs_stereo/points2" have an empty frame_ID, I know for the image_publisher I can change the frame_ID by changing the parameter, but there is no parameter in stereo_image_proc for frame_ID. How can I add it? Should I create a tf broadcaster?

mibclaric gravatar imagemibclaric ( 2019-07-08 08:45:56 -0500 )edit

From the stero_iamge_proc wiki page:

Point clouds are generated in the optical frame of the left imager (X Right, Y Down, Z out).

You probably just need to set the frame_id on your left stereo image.

ahendrix gravatar imageahendrix ( 2019-07-08 11:41:32 -0500 )edit

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Asked: 2019-07-03 16:00:55 -0500

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Last updated: Jul 05