depth_registration stops sending of frames [closed]

asked 2013-01-28 00:20:14 -0500

WLemkens gravatar image

updated 2013-01-28 00:21:52 -0500

When I set the depth_registration on as explained in the OpenNI tutorial, I stop receiving point clouds. (Nor registered, nor plain depth)

Without the depth_registration I receive both clouds.

I am using an Asus Xtion Pro Live and I have compiled and installed the OpenNI and Primesense drivers from git and the system is running fuerte. (Can the OpenNI 2.0 SDK be used?)

I'm not sure what could be useful from the logs, but it says : "[roslaunch.pmon][INFO] 2013-01-28 13:11:25,350: registrations completed <processmonitor(processmonitor-1, started="" daemon="" -1227891904)>".<="" p="">

So it seem to do something.

What am I doing wrong?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-14 16:16:37.416122


I guess the asus xtion pro does not need the depth_registration parameter to be set true.. It by default provides the registered depth image..

Karan gravatar image Karan  ( 2013-01-28 02:02:50 -0500 )edit

I had the same problem with my Kinect, setting the depth_registration parameter to true set off that behaviour. I am assuming the /camera/depth_registered/points is already giving me depth registered point clouds...

georgebrindeiro gravatar image georgebrindeiro  ( 2013-01-28 05:28:10 -0500 )edit

But isn't the aim of the depth registration that you don't need the extrinsic calibration any more? The results I get from the default depth registered cloud are not a good match.

WLemkens gravatar image WLemkens  ( 2013-02-18 00:06:01 -0500 )edit

AFAIK, depth registration means a proper extrinsic calibration between the RGB and IR cameras is applied, not that you don't need calibration anymore. The calibration parameters can be retrieved from hardware (factory settings) or software (ROS calibration). Anyhow, if it looks bad it's not working

georgebrindeiro gravatar image georgebrindeiro  ( 2013-02-18 02:05:44 -0500 )edit