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decompression of registered depth gives weird duplicated depth image

I am recording from a kinect using:

roslaunch turtlebot_bringup 3dsensor.launch; 
rosbag record -O rosbagtest /camera/rgb/image_color/compressed /camera/depth_registered/image_raw/compressed

then afterwards to replay I do:

rosbag  play -l rosbagtest.bag; 
rosrun image_transport republish compressed in:=/camera/depth_registered/image_raw/ raw out:=/camera/depth_registered/image_raw; 
rosrun image_transport republish compressed in:=/camera/rgb/image_color raw out:=/camera/rgb/image_raw;

This gives me a weird depth image that somehow seems to be duplicated and the depths are wrong as well (too far away):

depth image

RGB image

When I run the same program for displaying the depth and rgb stream directly without record and replay everything looks fine.

I am using groovy on a 12.04 linux. Does anyone have a clue whats going on here? Is the compression/decompression of depth images not yet stable in groovy?

Asked by jstraub on 2013-07-20 12:57:17 UTC

Comments

Yes, I have the same problem! I think we forgot to change the compression from jpg to png, as jpg can't handle 16bit images. Also there is not only the duplicate problem, the depth image also looks like a binary image.. See my problem here: http://answers.ros.org/question/64666/openni-depth-image-problem/

Asked by madmax on 2013-07-28 05:14:32 UTC

Thanks for the reply - reading this I did: "rosparam set /camera/depth_registered/image_raw/compressed/format png" before recording the rosbag and then once I am replaying it. But the decompressed depth image still looks duplicated and binary.

Asked by jstraub on 2013-07-30 05:32:23 UTC

Hmm, thought that was the problem. Would be interesting to know how this error can occur,

Asked by madmax on 2013-07-31 10:53:20 UTC

Answers