Publishing a Point Cloud Topic?

[stefie10]

Hi --

Thanks for writing the Kinect 2 driver. I'm wondering if the driver publishes a point cloud topic, so we can view the points in RVIZ?

I found this package which converts it to PCL:
https://github.com/giacomodabisias/libfreenect2pclgrabber so I think it would be something like, convert the cloud to PCL and then publish a PountCloud2 topic for both the low and highres camera streams: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html

Stefanie

[paulbovbel]

This would be done with a depth_image_proc node instead

[stefie10]

Gotcha, will give it a try. Thanks!

[stefie10]

Hi --

I created a launch file that publishes the points using depth_image_proc. Feel free to distribute with kinect2_bridge.

Stefanie

<launch>
    <arg name="manager" value="kinect2_nodelet_manager" />
    <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
      <arg name="name"                value="$(arg manager)" />
      <arg name="debug"               value="false" />
      <arg name="num_worker_threads"  value="4" />
    </include>
    <node pkg="nodelet" type="nodelet" name="points_xyzrgb_lowres"
          args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
          respawn="false">
      <!-- Explicit topic remappings, shouldn't need all of these -->
      <remap from="rgb/camera_info"             to="/kinect2_head/rgb_rect/camera_info" />
      <remap from="rgb/image_rect_color"             to="/kinect2_head/rgb_rect/image" />
      <remap from="depth_registered/image_rect" to="/kinect2_head/depth_lowres/image" />
      <remap from="depth_registered/points"     to="/kinect2_head/depth_lowres/points" />-->
    </node>

    <node pkg="nodelet" type="nodelet" name="points_xyzrgb_highres"
          args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
          respawn="false">
      <!-- Explicit topic remappings, shouldn't need all of these -->
      <remap from="rgb/camera_info"             to="/kinect2_head/rgb_rect/camera_info" />
      <remap from="rgb/image_rect_color"             to="/kinect2_head/rgb_rect/image" />
      <remap from="depth_registered/image_rect" to="/kinect2_head/depth_highres/image" />
      <remap from="depth_registered/points"     to="/kinect2_head/depth_highres/points" />-->
    </node>
</launch>

[kohrt]

I added the nodes for publishing to the launch file

[andreykurenkov]

Hi,
I know that this is a closed issue, but I am looking into subscribing to the point cloud topic and am not sure if I am doing something wrong or if there is a problem. When I run the kinect2_bridge, if I do rostopic list I do not see the points topics but only the image topics for depth:
/kinect2/depth_highres/image
/kinect2/depth_highres/image/compressedDepth
/kinect2/depth_lowres/camera_info
/kinect2/depth_lowres/image
/kinect2/depth_lowres/image/compressedDepth
/kinect2/depth_rect/camera_info
/kinect2/depth_rect/image
/kinect2/depth_rect/image/compressedDepth

I am trying to use the point cloud for SLAM, but just cannot understand why it is not published. Do I neet to set some paramter for the points topics to be published, or is there something wrong?

[kohrt]

Point clouds are created by image_proc. Those nodes are only started with the launch file. You have to launch the launch file instead of directly running the node.

[andreykurenkov]

Ah, thank you - though it is fairly obvious I did not think of it after
always using rosrun with kinect2_bridge.

On Sun, Mar 22, 2015 at 4:54 AM, Thiemo Wiedemeyer <notifications@github.com

wrote:

Point clouds are created by image_proc. Those nodes are only started with
the launch file. You have to launch the launch file instead of directly
running the node.

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