dash95's profile - activity

I want to generate my own point cloud from disparity image published my stereo_image_proc . I am subscribing to topic /stereo/disparity . Now I am exratcting the disparity image as for further processing as :

 cv_ptr = cv_bridge::toCvCopy(disparity->image, sensor_msgs::image_encodings::TYPE_32FC1);

To calculate X,Y,Z (to generate point cloud) I need the value of disparity corresponding to to each u,v of the image pixel . I am using following formula

Z = fB/d
where
Z = distance along the camera Z axis
f = focal length (in pixels)
B = baseline (in metres)
d = disparity (in pixels)

however the disparity image I am getting is in TYPE_32FC1 format . So each pixel value is in meters(or some other units, not sure ) not in pixels. But as per my formula I want the value of d(disparity) in pixels . Can Someone help me :(

I want disparity in pixels .... Can you suggest how can I modify your code accordingly :) Thanks in advance :)

find_package(catkin REQUIRED COMPONENTS foo_msgs)

include_directories(include ${catkin_INCLUDE_DIRS})

include_directories(${catkin_INCLUDE_DIRS})

I have included these to statements in CMakeList ofpubsub..................still getting same error ....... please help . Thanks in advance

i i am still getting error foo_msgs/Foo.h : No such file or directory

i have a catkin_ws/src this includes packages
foo_msgs pubsub

foo_msgs contains 1) msg 2)CMakeList.txt 3)package.xml

pubsub contains 1) src 2)CMakeList.txt 3)package.xml

foo_msgs/msg/Foo.msg

int32 bar

its CMakeList.txt

////////////////////

cmake_minimum_required(VERSION 2.8.3)
project(foo_msgs)

find_package(catkin REQUIRED COMPONENTS std_msgs message_generation)


add_message_files(
        DIRECTORY msg
        FILES Foo.msg)


generate_messages(DEPENDENCIES std_msgs)

catkin_package(CATKIN_DEPENDS std_msgs message_runtime)

/////////////////////

<?xml version="1.0"?>
< package  >
  <   name>foo_msgs</name >
  < version>0.1.0</version >
  < description>The foo_msgs package< /description >

  < maintainer email="bar@baz.com "  >william< /  maintainer >

  < license>TODO</license>

  < buildtool_depend>catkin</buildtool_depend >

  < build_depend>message_generation</build_depend >
  < run_depend>message_runtime</run_depend >

  <  build_depend>std_msgs</build_depend >
  <  run_depend>std_msgs</run_depend >

< /package >

////////////////////////

pubsub/CMakeList.txt //////////////////////

cmake_minimum_required(VERSION 2.8.3)

project(pubsub)

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs )

find_package(foo_msgs)

catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(listener src/listener.cpp)

target_link_libraries(listener ${catkin_LIBRARIES})

add_dependencies(listener foo_msgs_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

//////////////////////////////////////////////////

<?xml version="1.0"?>

< package >

  <  name >pubsub< /name >

  < version >0.0.0< /version >

  < description  >The pubsub package</description >

< maintainer email="xyx@todo.todo >danish< /maintainer >
n
 <  license >TODO<  /license>



 < buildtool_depend  >catkin< /buildtool_depend >

  < build_depend >roscpp< /build_depend >

  < build_depend >rospy< /build_depend >

  < build_depend >std_msgs< /build_depend >

  < run_depend >roscpp< /run_depend >

< build_depend>foo_msgs</build_depend >

  < run_depend>rospy</run_depend >


  < run_depend>std_msgs</run_depend >

  < run_depend>foo_msgs</run_depend >


< export >

  < /export >
< /package >

/////////////////////////////////////// .......................................

i include #include " foo_msgs/Foo.h " in my pubsub/src/listener.cpp but when i build using "catkin_make " it shows an error foo_msgs/Foo.h : No such file or directory Please Help Thanx in advance

i i am still getting error foo_msgs/Foo.h : No such file or directory

i have a catkin_ws/src this includes packages
foo_msgs pubsub

foo_msgs contains 1) msg 2)CMakeList.txt 3)package.xml

pubsub contains 1) src 2)CMakeList.txt 3)package.xml

foo_msgs/msg/Foo.msg

int32 bar

its CMakeList.txt

//////////////////// cmake_minimum_required(VERSION 2.8.3) project(foo_msgs)

find_package(catkin REQUIRED COMPONENTS std_msgs message_generation)

add_message_files( DIRECTORY msg FILES Foo.msg)

generate_messages(DEPENDENCIES std_msgs)

catkin_package(CATKIN_DEPENDS std_msgs message_runtime)

/////////////////////

?xml version="1.0"?> < package > < name>foo_msgs</name>0.1.0</version>The foo_msgs package< /description >

< maintainer email="bar@baz.com " >william< / maintainer >

< license>TODO</license>

< buildtool_depend>catkin</buildtool_depend>

< build_depend>message_generation</build_depend>message_runtime</run_depend>

< build_depend>std_msgs</build_depend>std_msgs</run_depend>

< /package >

////////////////////////

pubsub/CMakeList.txt

//////////////////////

cmake_minimum_required(VERSION 2.8.3)

project(pubsub)

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs )

find_package(foo_msgs)

catkin_package()

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(listener src/listener.cpp)

target_link_libraries(listener ${catkin_LIBRARIES})

add_dependencies(listener foo_msgs_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

//////////////////////////////////////////////////

< package >

< name >pubsub< /name >

< version >0.0.0< /version >

< description >The pubsub package</description>

< maintainer email="xyx@todo.todo >danish< /maintainer >

< license >TODO< /license>

< buildtool_depend >catkin< /buildtool_depend >

< build_depend >roscpp< /build_depend >

< build_depend >rospy< /build_depend >

< build_depend >std_msgs< /build_depend >

< run_depend >roscpp< /run_depend >

< build_depend>foo_msgs</build_depend>

< run_depend>rospy</run_depend>

< run_depend>std_msgs</run_depend>

< run_depend>foo_msgs</run_depend>

< export >

< /export > < /package > /////////////////////////////////////// .......................................

i include #include " foo_msgs/Foo.h " in my danish/src/listener.cpp but when i build using "catkin_make " it shows an error foo_msgs/Foo.h : No such file or directory Please Help Thanx in advance