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How to read information from the Openni depth camera in Gazebo

asked 2018-06-29 03:47:21 -0500

user90 gravatar image

Hello

I am using the Openni depth camera plugin in Gazebo. However; I faced some issues:

When I tried to see what's being published to the camera/depth/image_raw, I didn't know: - how to read the distance detected by the depth camera? - how to extract the images captured by the camera so I can use them for my robot learning?

Moreover; I opened RViz to see the image, it says that there is no image.

Can someone help me solve these issues?

Thanks a lot for your help.

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answered 2018-06-29 18:12:57 -0500

how to read the distance detected by the depth camera

The depth image is encoded as "32FC1", meaning that each pixel is a one channel 32 bit floating point number representing the distance from the camera.

how to extract the images captured by the camera so I can use them for my robot learning?

This depends on what you want to do with the images. They are published as a ROS topic, so you can write a Subscriber to capture them into another program.

I opened RViz to see the image, it says that there is no image

Perhaps you are subscribed to the wrong topic, use rostopic list to see what topics are available.

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I understand your point of view concerning the distance between each pixel and the camera, however I am obtaining illogical numbers that represents the distance

user90 gravatar imageuser90 ( 2018-07-09 09:41:58 -0500 )edit
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Asked: 2018-06-29 03:47:21 -0500

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Last updated: Jun 29