Kinect depth registration using OpenNI [closed]

asked 2013-02-15 04:46:04 -0500

kamek gravatar image

updated 2016-10-24 08:34:33 -0500

ngrennan gravatar image

I am having trouble visualizing a registered XYZRGB Pointcloud2 message in rviz using my Kinect and OpenNI. I am running ROS groovy on Ubuntu 11.10. I launch OpenNi with:

roslaunch openni_launch openni.launch depth_registration:=true

and I get the following output:


 * /camera/depth/rectify_depth/interpolation
 * /camera/depth_registered/rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_depth_registered/max_range
 * /camera/disparity_depth_registered/min_range
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    points (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)
    debayer (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    camera_nodelet_manager (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_depth_registered (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_depth_rgb (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rectify_ir (nodelet/nodelet)
    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [16003]

setting /run_id to a1c6d428-77b7-11e2-a2f6-0023148296f8
process[rosout-1]: started with pid [16016]
started core service [/rosout]
process[camera_nodelet_manager-2]: started with pid [16028]
process[camera/driver-3]: started with pid [16029]
process[camera/rgb/debayer-4]: started with pid [16050]
process[camera/rgb/rectify_mono-5]: started with pid [16076]
process[camera/rgb/rectify_color-6]: started with pid [16104]
process[camera/ir/rectify_ir-7]: started with pid [16138]
process[camera/depth/rectify_depth-8]: started with pid [16178]
process[camera/depth/metric_rect-9]: started with pid [16225]
process[camera/depth/metric-10]: started with pid [16275]
process[camera/depth/points-11]: started with pid [16342]
process[camera/register_depth_rgb-12]: started with pid [16407]
process[camera/depth_registered/rectify_depth-13]: started with pid [16478]
process[camera/depth_registered/metric_rect-14]: started with pid [16561]
process[camera/depth_registered/metric-15]: started with pid [16644]
process[camera/points_xyzrgb_depth_rgb-16]: started with pid [16734]
process[camera/disparity_depth-17]: started with pid [16839]
process[camera/disparity_depth_registered-18]: started with pid [16949]
process[camera_base_link-19]: started with pid [17075]
process[camera_base_link1-20]: started with pid [17175]
process[camera_base_link2-21]: started with pid [17279]
process[camera_base_link3-22]: started with pid [17407]
[ INFO] [1360964139.818215509]: Initializing nodelet with 4 worker threads.
[ INFO] [1360964145.019843740]: Number devices connected: 1
[ INFO] [1360964145.020321985]: 1. device on bus 002:12 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00367A07613104A'
[ INFO] [1360964145.021616706]: Searching for device with index = 1
[ERROR] [1360964145.056855804]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ INFO] [1360964145.072552968]: Opened 'Xbox NUI Camera' on bus 2:12 with serial number 'A00367A07613104A'
[ERROR] [1360964145.122422746]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ INFO] [1360964145.151001144]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1360964145.151149135]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1360964145.155915067]: Camera calibration file /home/marc/.ros/camera_info/rgb_A00367A07613104A.yaml not found.
[ WARN] [1360964145.155988894]: Using default parameters for RGB camera calibration.
[ WARN] [1360964145.156037920]: Camera calibration file /home/marc/.ros/camera_info/depth_A00367A07613104A.yaml not found.
[ WARN] [1360964145.156086029]: Using default parameters for IR camera calibration.
[ERROR] [1360964145.249034132 ...
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-27 01:07:10.484854


I've tried exactly what was suggested in that other question thread and there is no change in behaviour from what I've described in my question.

kamek gravatar image kamek  ( 2013-02-15 06:50:59 -0500 )edit

Did you calibrate your Kinect? Try deleting the calibration files in ~/.ros/camera_info

dgossow gravatar image dgossow  ( 2013-02-15 06:58:33 -0500 )edit

are you using the default Kinect calibration? if so, could you try temporarily renaming the default calibration files in ~/.ros/camera_info and letting me know what you get as a result with and without depth registration?

georgebrindeiro gravatar image georgebrindeiro  ( 2013-02-15 07:07:02 -0500 )edit

I have not calibrated my Kinect (yet). I am using the default Kinect calibration (i.e., ~/.ros/camera_info does not exist).

kamek gravatar image kamek  ( 2013-02-15 07:13:50 -0500 )edit

Could you post the output you get from running openni_launch? What version of ROS are you running? Which OS?

georgebrindeiro gravatar image georgebrindeiro  ( 2013-02-15 07:49:26 -0500 )edit

I updated the question with the details you requested.

kamek gravatar image kamek  ( 2013-02-15 09:40:07 -0500 )edit

I am guessing, as before, that this is an OpenNI issue... Sorry I can't help you.

georgebrindeiro gravatar image georgebrindeiro  ( 2013-02-15 11:38:29 -0500 )edit