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libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

The oppenni_kinect plugin publishes data to an:

Image Topic (say /depth_camera/image_raw)

Depth Image Topic (say /depth_camera/depth_image_raw)

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 publishes 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

The oppenni_kinect plugin publishes data to an:to:

Image Topic (say /depth_camera/image_raw)

Depth Image Topic (say /depth_camera/depth_image_raw)

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 publishes 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

The oppenni_kinect plugin publishes data to:to the following topics:

Image Topic (say /depth_camera/image_raw)

Depth Image Topic (say /depth_camera/depth_image_raw)

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 publishes 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

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.these:

  1. The point cloud (/depth_camera/points) topic seems to publishes 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 appropriately, it colors them all black (my guess is that it is expecting 1 byte long rgb values rather than 4). 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

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 publishes publishe 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

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 publishe 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?

libgazebo_ros_openni_kinect.so topic values and their visualization in rviz

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.