Kinect depth registration using OpenNI [closed]
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:
SUMMARY
========
PARAMETERS
* /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
NODES
/camera/depth/
metric (nodelet/nodelet)
metric_rect (nodelet/nodelet)
points (nodelet/nodelet)
rectify_depth (nodelet/nodelet)
/camera/rgb/
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)
/camera/
disparity_depth (nodelet/nodelet)
disparity_depth_registered (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_depth_rgb (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/camera/ir/
rectify_ir (nodelet/nodelet)
/camera/depth_registered/
metric (nodelet/nodelet)
metric_rect (nodelet/nodelet)
rectify_depth (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [16003]
ROS_MASTER_URI=http://localhost:11311
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 ...
Please read these: http://answers.ros.org/question/53706/registered-depth-image-is-black/#53832http://www.ros.org/wiki/openni_launch#Registration (fuerte version, groovy is blank)
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.
Did you calibrate your Kinect? Try deleting the calibration files in ~/.ros/camera_info
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?
I have not calibrated my Kinect (yet). I am using the default Kinect calibration (i.e., ~/.ros/camera_info does not exist).
Could you post the output you get from running openni_launch? What version of ROS are you running? Which OS?
I updated the question with the details you requested.
I am guessing, as before, that this is an OpenNI issue... Sorry I can't help you.
Hey, I would like to ask if you found a solution to your problem. I've been having the same issue, with /camera/depth_registered/disparity producing only a grey image (not the original-no topic published grey) on image_view and rviz doesn't display the cloud although rostopic echo gives non-0 points
Sorry, I never did find a solution. I haven't used the Kinect in ROS any time recently.