Nan values published in point clouds (depth_registered) with new openni_camera and openni_launch [closed]

asked 2013-01-30 21:25:53 -0600

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Hello, I was using openni_camera_deprecated in my program but i saw that the accuracy wasn't enough so i installed openni_launch in order to be able to calibrate the kinect. Using this package if i turn the variable depth_registration on I get x = y = z = Nan in the whole point cloud(/camera/depth_registered/points) (I also realized that all the image of depth_registered are black). Although, i get the right rgb values so i guess that the driver is working! As this was not working at all i tried to use again the openni_camera_deprecated package but as I think the openni_camera is not the same package than before so openni_camera_deprecated was not working any more. I downloaded again openni_camera_deprecated but when i launch openni_camera_deprecated return an error because it looks for launch files in openni_camera but there are not, they are at openni_camera_deprecated but if i change the launch file so that it takes the launch files from openni_Camera_Deprecated instead of from openni_camera point clouds are not published.

So my questions are, using openni_launch Do you know why all the points are returned as Nan? or how can i use again the package openni_camera_deprecated?

I know it is a little bit mess, i hope you could help me I don't know what else to try! Than you very much in advance!

Antonio!

Edit 2 I have noticed something! The problem is that when i enable depth_registration all the image in depth_registered are black (all the pixels have value 0) That is the reason why i think all the values of the point clouds are Nan. While if point_registration is turned off, both image are corrects, but the translation between both cameras RGB ans Depth is not corrected so the point cloud is not the correct one! I know what is going on but i don't know the solution, hahaha! Could anyone help me, please?

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Closed for the following reason duplicate question by georgebrindeiro
close date 2013-01-31 04:34:59

Comments

I have seen that before... Apparently the depth_registration flag doesn't need to be set anymore for depth registered clouds to be published, but you claim they are wrong? I kind of noticed it seemed funky, but I wasn't sure. Might actually be a bug, which we could file to OpenNI devs

georgebrindeiro gravatar imagegeorgebrindeiro ( 2013-01-31 00:58:05 -0600 )edit
1

Thank you very much for your answer, what it is happening to me, it is exactly the same than this post: http://answers.ros.org/question/36997/deprecated-kinect-driver-superior-to-the-new-one/ but the solution they propose is to enable the depth_registration, which doesn't work to me!

anto1389 gravatar imageanto1389 ( 2013-01-31 01:20:10 -0600 )edit

This topic is similar to this one: http://answers.ros.org/question/53706/registered-depth-image-is-black/ , let's try to concentrate the discussion there! I am proposing we report this bug in the OpenNI community.

georgebrindeiro gravatar imagegeorgebrindeiro ( 2013-01-31 04:28:26 -0600 )edit