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Kinect RGB + Depth to .pcd format

asked 2013-03-06 18:00:10 -0500

updated 2014-01-28 17:15:34 -0500

ngrennan gravatar image

I have tried the rgbd_registration package in which a source cloud (first frame) and a target cloud (another frame) in the form of a .pcd format are passed to the algorithm, the algorithm restores the RGB images from the .pcd file and detects and matches features between the two frames and then aligns the reconstructed 3D points between the two frames.

What I want to do is construct my own .pcd files that will contain depth and rgb images from a Kinect so I can pass it to this algorithm for alignment, instead of using their scenes.

Is there any tutorial or example on how I would be able to store both depth and RGB information into a pcd file?

Thanks for your help

Khalid

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answered 2013-03-06 18:13:08 -0500

kalectro gravatar image

you can use pointcloud_to_pcd which is part of pcl_ros and should be installed on your system. For instructions on how to use it look here

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Thanks for your answer, so does this pointcloud_to_pcd also store the RGB information in the .pcd file? If so, would I be able to change the image that I want saved? (for example rgb/image_rect or image_mono)?

K_Yousif gravatar image K_Yousif  ( 2013-03-06 18:57:03 -0500 )edit

It will also store the RGB information but it only works if the pointcloud you are feeding it also contains them. You cannot assign a RGB image to it

kalectro gravatar image kalectro  ( 2013-03-06 18:59:32 -0500 )edit

So does the the pointcloud published by the Kinect contain contain rgb information?

K_Yousif gravatar image K_Yousif  ( 2013-03-06 19:06:46 -0500 )edit

if you are using roslaunch openni_launch openni.launch there will be a topic called /camera/depth_registered/points This one contains RGB information

kalectro gravatar image kalectro  ( 2013-03-06 19:08:44 -0500 )edit

I appreciate your help

K_Yousif gravatar image K_Yousif  ( 2013-03-06 19:14:05 -0500 )edit

if that solved your issue, please mark the answer as correct by checking it on the left

kalectro gravatar image kalectro  ( 2013-03-06 19:52:06 -0500 )edit

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Asked: 2013-03-06 18:00:10 -0500

Seen: 1,463 times

Last updated: Mar 06 '13