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kinect raw data

asked 2012-07-04 15:27:50 -0500

rosmaker gravatar image

updated 2016-10-24 08:59:37 -0500

ngrennan gravatar image

I am using ubuntu 11.10 and openni.

My question is how to convert the raw depth data to XYZ point?

(x,y,d) coordinate of (pixel, pixel, mm)

I want to know how to convert it to (mm, mm, mm)

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Are you using the openni_camera stack? What launch file are you using to start the Kinect (e.g. openni_launch openni.launch)?

Eric Perko gravatar image Eric Perko  ( 2012-07-04 17:44:26 -0500 )edit

I am using openni_launch openni.launch to start the kinect.

rosmaker gravatar image rosmaker  ( 2012-07-04 21:35:27 -0500 )edit

Can you also teach me the changing fomula??

rosmaker gravatar image rosmaker  ( 2012-07-04 21:36:36 -0500 )edit

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answered 2012-07-04 23:12:59 -0500

Hi rosmaker,

If you are using

roslaunch openni_launch openni.launch

then the conversion is already being done for you.

You only need to subscribe to the topic /camera/depth_registered/points. This topic is of type sensor_msgs/PointCloud2 and represents the 3D point cloud of the scene in meters.

You can find further information on how to access point cloud data in

I hope this helps

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What is the way to use the scene in [mm]? If I am using other launch file or not, does I use other way?

rosmaker gravatar image rosmaker  ( 2012-07-05 02:15:50 -0500 )edit

Well, if you want your coordinates in mm, one thing you can do is multiply by 1000 all the values in /camera/depth_registered/points

Martin Peris gravatar image Martin Peris  ( 2012-07-05 02:57:35 -0500 )edit

openni have convertprojectivetorealworld function in windows openni. Is this same the topic /camera/depth_registered/points?

rosmaker gravatar image rosmaker  ( 2012-07-05 04:01:31 -0500 )edit

And does raw depth data send by the kinect on 11bit ? how about changed xyz data?

rosmaker gravatar image rosmaker  ( 2012-07-05 04:52:37 -0500 )edit

how do I do the opposite? How do I convert the pixels around point (0.1 meters, 0.52 meters to pixel (x, y) position? I am using the old Kinect (640 x 480 resulution kinect)

Pototo gravatar image Pototo  ( 2016-06-21 14:09:49 -0500 )edit

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Asked: 2012-07-04 15:27:50 -0500

Seen: 995 times

Last updated: Jul 04 '12