topic values and their visualization in rviz [closed]

asked 2013-08-22 02:38:25 -0500

munnveed gravatar image

updated 2013-08-22 11:09:09 -0500

The oppenni_kinect plugin publishes data to the following topics:

  1. Image Topic (say /depth_camera/image_raw)
  2. Depth Image Topic (say /depth_camera/depth_image_raw)
  3. Point Cloud Topic (say /depth_camera/points)

I have some questions about each of these:

  1. The point cloud (/depth_camera/points) topic seems to publish a sequence of xyzrgb values (each component 4 bytes long). I can visualize this in rviz though the pointcloud2 display (the coordinates of which need to be transformed first it seems). While this places the points appropriately, it colors them all black (my guess is that it is expecting 1 byte long rgb values rather than 4?). Is there a way to get the color right?

  2. The depth image topic (/depth_camera/depth_image_raw) is a sequence of 32 bit floating points that represent distance in meters. I could not find a way to visualize this in rviz. I tried depthcloud, but that didn't work. Is there a way to visualize this data?

  3. The image topic (/depth_camera/image_raw) is an simple rgb image. So I setup a camera display reading from this topic. I was expecting it to be displayed in 2D window like how my normal image camera display shows up, but I was surprised to see that it colored my point cloud display in the 3D view. I'm happy this happened, but a little confused. How did that happen?

I am using ROS Hydro and Gazebo 1.9.

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Closed for the following reason question is not relevant or outdated by nkoenig
close date 2016-12-17 22:18:06.456052


Hello, can you update your question with the version of ROS you're using and the version of Gazebo?

nkoenig gravatar imagenkoenig ( 2013-08-22 09:37:49 -0500 )edit

Done. Ros Hydro, and Gazebo 1.9.

munnveed gravatar imagemunnveed ( 2013-08-22 11:09:48 -0500 )edit