[ros-users] Can not send kinect recorded bag to image_view

[Patrick Bouffard]

Hi Chris,

On Fri, Dec 3, 2010 at 6:45 PM, Chris Brown <chrisneilbrown at gmail.com> wrote:
> Eric,
> But I dont have a kinect
> I was told I could get PCL data from the raw images

What you probably need to do is to look at how this is done in the
kinect driver. Take a look at the depthCb method in kinect_driver.cpp
in that package. It's not a perfect fit, as it uses the buffer
straight from the kinect rather than the depth image which is itself
derived from that buffer (see depthBufferTo8BitImage for how that's
done--basically you'd want to invert that function). For best results,
you'll also want a calibration file for the kinect that was used to
capture the data.

HTH,
Pat

>
> On Sat, Dec 4, 2010 at 1:08 PM, Eric Perko <wisesage5001 at gmail.com> wrote:
>>
>> On Fri, Dec 3, 2010 at 8:40 PM, Chris Brown <chrisneilbrown at gmail.com>
>> wrote:
>>>
>>> Eric,
>>> I'm republishing because I want process the data into a point cloud data,
>>> which I have no idea how to do, where should I start?
>>> I dont have a kinect to play with. To fix it I had to make this change
>>> -pub.publish(Image(msg))
>>> +pub.publish(msg)
>>> works now
>>
>> What I was getting at was that you don't have to do the republishing of
>> the depth image from the bag file yourself - rosbag play already does it for
>> you. Doesn't the kinect driver already output a point cloud? Seems to
>> according to http://www.ros.org/wiki/kinect_camera . You may want to see
>> about finding a different bag file that includes that information.
>> - Eric
>>
>>>
>>> On Sat, Dec 4, 2010 at 12:20 PM, Eric Perko <wisesage5001 at gmail.com>
>>> wrote:
>>>>
>>>> Chris,
>>>> To just playback a bagfile to a rosnode such as image_view, there is no
>>>> need to write a script that uses the rosbag API. Take a look at this
>>>> tutorial: http://www.ros.org/wiki/rosbag/Tutorials/Recording%20and%20playing%20back%20data
>>>> For your specific case, you would want to use the following two commands
>>>> (or something very close to them) after starting a roscore:
>>>> 1. rosbag play /home/chris/bagfiles/kinectDepthVideo.bag
>>>> 2. rosrun image_view image_view image:=/kinect/depth/image_raw
>>>> That should be about all you need to do, no need to read from the
>>>> bagfile using Python and then republish messages yourself.
>>>> - Eric
>>>>
>>>> On Fri, Dec 3, 2010 at 7:00 PM, Chris Brown <chrisneilbrown at gmail.com>
>>>> wrote:
>>>>>
>>>>> I get this error
>>>>>   File "/home/chris/ros/ros/core/roslib/src/roslib/message.py", line
>>>>> 301, in __init__
>>>>>     raise TypeError, "Invalid number of arguments, args should be
>>>>> %s"%str(self.__slots__)+" args are"+str(args)
>>>>> TypeError: Invalid number of arguments, args should be ['header',
>>>>> 'height', 'width', 'encoding', 'is_bigendian', 'step', 'data'] args
>>>>> are(header:
>>>>>   seq: 0
>>>>>   stamp:
>>>>>     secs: 1290467094
>>>>>     nsecs: 328996057
>>>>>   frame_id: /kinect_depth
>>>>> height: 480
>>>>> width: 640
>>>>> encoding: mono8
>>>>> is_bigendian: 0
>>>>> step: 640
>>>>> data:
>>>>> ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýýÿýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýÿùùÿÿùõýõÿÿýýÿÿÿÿÿýùùõùùùùùùùùÿÿÿÿýÿýýùùùùýÿÿÿÿÿýýùùùùùùùýýýýýùõõõõõùõùùùùõõõõõùùõõõõõõõõõõõõõõõõõõññõññññññññññññññññññõñññññññíññññññññññõõõõÿÿÿÿÿÿÿÿÿõõñññíííééééñññññññññññññíññññññññííííí
>>>>> I'm sure I'm trying to publish send_msg/Image data to image_view which
>>>>> accepts the data
>>>>> rosbag info ~/bagfiles/kinectDepthVideo.bag
>>>>> path:        /home/chris/bagfiles/kinectDepthVideo.bag
>>>>> version:     2.0
>>>>> duration:    25.1s
>>>>> start:       Nov 23 2010 10:04:54.33 (1290467094.33)
>>>>> end:         Nov 23 2010 10:05:19.43 (1290467119.43)
>>>>> size:        220.7 MB
>>>>> messages:    753
>>>>> compression: none [251/251 chunks]
>>>>> types:       sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
>>>>> topics:      /kinect/depth/image_raw   753 msgs @ 29.8 Hz :
>>>>> sensor_msgs/Image
>>>>>
>>>>> _______________________________________________
>>>>> ros-users mailing list
>>>>> ros-users at code.ros.org
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>>>>>
>>>>
>>>>
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>>>
>>>
>>> --
>>> Chris
>>> Aluminium Replacement Parts
>>> @arpartsau
>>>
>>>
>>>
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>>
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>
>
> --
> Chris
> Aluminium Replacement Parts
> @arpartsau
>
>
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