PR2 and Kinect (also registered Point Clouds from other sources) [closed]

asked 2013-04-03 15:36:55 -0600

astaranowicz gravatar image

updated 2014-11-22 17:05:24 -0600

ngrennan gravatar image

Hi all,

I am working with the PR2 and the Kinect to try to do rgbdslam programs. The problem I am having and I don't any discussion, what does this topic do (provided by the PR2): /head_mount_kinect/depth_registered/points

From what I thought is that this topic (which is a sensor_msgs::PointCloud2) is registered with the RGB Image from the PR2's Kinect. From what I see is that it is not registered at all. As such the point cloud I get is unorganized (height = 1) and not what I expect (height = 480).

How do I use this topic then? How can I register this point cloud to the RGB image?

As a side note: I don't want to use the Depth-Map because I'm working with the PR2 in GAZEBO, and not a real PR2. Gazebo doesn't have a true Depth Map, so I am forced to work with the Point Cloud directly.

Thanks

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-08-16 10:39:58

Comments

Could you please specify your system, and ROS version ? And also how you launch the kinects ? (I will answer you after having more details :-) ). Bests, Steph

Stephane.M gravatar image Stephane.M  ( 2013-04-04 23:18:41 -0600 )edit