kinect raw data
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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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)
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 http://www.ros.org/wiki/pcl/Tutorials
I hope this helps
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
Asked: 2012-07-04 15:27:50 -0500
Seen: 1,215 times
Last updated: Jul 04 '12
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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)?
I am using openni_launch openni.launch to start the kinect.
Can you also teach me the changing fomula??