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Converting Kinect IR images to points

asked 2012-10-02 12:07:27 -0600

dtj gravatar image

updated 2014-01-28 17:13:49 -0600

ngrennan gravatar image

My goal is to compress a movie of kinect data into the smallest format possible. I'm investigating if I can use movie compression on either the raw /camera/ir/image_raw images or maybe the /camera/depth_registered/image_raw frames.

I'm using this tutorial to extract the frames from a rosbag recording. And it works great. For the next step, I have two questions:

  1. Can you export image frames in png (i.e. a lossless) format for compression? I found this answer but I'd prefer not use openCV/python.

  2. Is there a ros node to convert the raw image format into points. "convert_pointcloud_to_image" will convert points into images but I'm looking to use both the camera data & the image to get points & haven't found a tutorial or node for this...

I'm running Ubuntu 11.10 w/Electric & PCL 1.6, as I haven't had good luck with Openni drivers on 12.04. Looking in: /opt/ros/electric/stacks/perception_pcl/pcl_ros/bin I don't see anything that does what I would want. I assume this functionality exists somewhere (as the Openni drivers converts an inferred image into a point cloud) but I can't seem to find it.

Help please?

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answered 2012-10-03 08:44:46 -0600

Georg gravatar image

Hi,

I assume, you are not interested in using the Kinect as a plain Near-IR camera, but in the end want to compress the 3D data. So I would suggest to have a look at this:

http://pointclouds.org/documentation/tutorials/compression.php

Best Georg

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Asked: 2012-10-02 12:07:27 -0600

Seen: 341 times

Last updated: Oct 03 '12