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disparity_image_proc

Contains package that allows converting ROS disparity images to depth images.

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wenjiebit perception-slam johnsoningzhuang namgk wxmerkt zczhangcheng ahuston-0 tonirv master-matt rcprg-ros-pkg yznmur raytang88

disparity_image_proc's Issues

Can't obtain depth image, topic /depthimage has no messages

I'm launching the nodelet with following settings.

 <node name="disparity_image_proc" pkg="nodelet" type="nodelet" args="load disparity_image_proc/depth_image stereo_proc" output="screen">
    <remap from="/elp/right/camera_info" to="/right/camera_info"/>
    <remap from="/elp/left/camera_info" to="/left/camera_info"/>
    <remap from="/elp/left/image_rect_color" to="/left/image_rect_color"/>
    <remap from="/elp/disparity" to="/disparity"/>
    <remap from="/depth_image" to="/depth_image"/>

The camera works and I can see the information on /camera_info and /image_rect_color topics, as well as disparity image.
Unfortunately the /depth_image topic is empty when I check it with rostopic echo command.
I've tried changing the .cpp file to set Approximate_sync to true, it didn't seem to change anything.
Do you have any ideas on what I might be doing wrong?
Thank you for your help

How can I generate depth map?

Hello,

I use stereo_image_proc to generate a disparity map as follows:

 rosrun image_view stereo_view stereo:=/ros_basler_stereo image:=image_raw _approximate_sync:=True _queue_size:=800

It gives me the below topics; however, I do not know how to use your ROS package to generate depth map:

/ros_basler_stereo/disparity
/ros_basler_stereo/left/camera_info
/ros_basler_stereo/left/image_color
/ros_basler_stereo/left/image_color/compressed
/ros_basler_stereo/left/image_color/compressed/parameter_descriptions
/ros_basler_stereo/left/image_color/compressed/parameter_updates
/ros_basler_stereo/left/image_color/compressedDepth
/ros_basler_stereo/left/image_color/compressedDepth/parameter_descriptions
/ros_basler_stereo/left/image_color/compressedDepth/parameter_updates
/ros_basler_stereo/left/image_color/theora
/ros_basler_stereo/left/image_color/theora/parameter_descriptions
/ros_basler_stereo/left/image_color/theora/parameter_updates
/ros_basler_stereo/left/image_mono
/ros_basler_stereo/left/image_mono/compressed
/ros_basler_stereo/left/image_mono/compressed/parameter_descriptions
/ros_basler_stereo/left/image_mono/compressed/parameter_updates
/ros_basler_stereo/left/image_mono/compressedDepth
/ros_basler_stereo/left/image_mono/compressedDepth/parameter_descriptions
/ros_basler_stereo/left/image_mono/compressedDepth/parameter_updates
/ros_basler_stereo/left/image_mono/theora
/ros_basler_stereo/left/image_mono/theora/parameter_descriptions
/ros_basler_stereo/left/image_mono/theora/parameter_updates
/ros_basler_stereo/left/image_raw
/ros_basler_stereo/left/image_rect
/ros_basler_stereo/left/image_rect/compressed
/ros_basler_stereo/left/image_rect/compressed/parameter_descriptions
/ros_basler_stereo/left/image_rect/compressed/parameter_updates
/ros_basler_stereo/left/image_rect/compressedDepth
/ros_basler_stereo/left/image_rect/compressedDepth/parameter_descriptions
/ros_basler_stereo/left/image_rect/compressedDepth/parameter_updates
/ros_basler_stereo/left/image_rect/theora
/ros_basler_stereo/left/image_rect/theora/parameter_descriptions
/ros_basler_stereo/left/image_rect/theora/parameter_updates
/ros_basler_stereo/left/image_rect_color
/ros_basler_stereo/left/image_rect_color/compressed
/ros_basler_stereo/left/image_rect_color/compressed/parameter_descriptions
/ros_basler_stereo/left/image_rect_color/compressed/parameter_updates
/ros_basler_stereo/left/image_rect_color/compressedDepth
/ros_basler_stereo/left/image_rect_color/compressedDepth/parameter_descriptions
/ros_basler_stereo/left/image_rect_color/compressedDepth/parameter_updates
/ros_basler_stereo/left/image_rect_color/theora
/ros_basler_stereo/left/image_rect_color/theora/parameter_descriptions
/ros_basler_stereo/left/image_rect_color/theora/parameter_updates
/ros_basler_stereo/points2
/ros_basler_stereo/right/camera_info
/ros_basler_stereo/right/image_color
/ros_basler_stereo/right/image_color/compressed
/ros_basler_stereo/right/image_color/compressed/parameter_descriptions
/ros_basler_stereo/right/image_color/compressed/parameter_updates
/ros_basler_stereo/right/image_color/compressedDepth
/ros_basler_stereo/right/image_color/compressedDepth/parameter_descriptions
/ros_basler_stereo/right/image_color/compressedDepth/parameter_updates
/ros_basler_stereo/right/image_color/theora
/ros_basler_stereo/right/image_color/theora/parameter_descriptions
/ros_basler_stereo/right/image_color/theora/parameter_updates
/ros_basler_stereo/right/image_mono
/ros_basler_stereo/right/image_mono/compressed
/ros_basler_stereo/right/image_mono/compressed/parameter_descriptions
/ros_basler_stereo/right/image_mono/compressed/parameter_updates
/ros_basler_stereo/right/image_mono/compressedDepth
/ros_basler_stereo/right/image_mono/compressedDepth/parameter_descriptions
/ros_basler_stereo/right/image_mono/compressedDepth/parameter_updates
/ros_basler_stereo/right/image_mono/theora
/ros_basler_stereo/right/image_mono/theora/parameter_descriptions
/ros_basler_stereo/right/image_mono/theora/parameter_updates
/ros_basler_stereo/right/image_raw
/ros_basler_stereo/right/image_rect
/ros_basler_stereo/right/image_rect/compressed
/ros_basler_stereo/right/image_rect/compressed/parameter_descriptions
/ros_basler_stereo/right/image_rect/compressed/parameter_updates
/ros_basler_stereo/right/image_rect/compressedDepth
/ros_basler_stereo/right/image_rect/compressedDepth/parameter_descriptions
/ros_basler_stereo/right/image_rect/compressedDepth/parameter_updates
/ros_basler_stereo/right/image_rect/theora
/ros_basler_stereo/right/image_rect/theora/parameter_descriptions
/ros_basler_stereo/right/image_rect/theora/parameter_updates
/ros_basler_stereo/right/image_rect_color
/ros_basler_stereo/right/image_rect_color/compressed
/ros_basler_stereo/right/image_rect_color/compressed/parameter_descriptions
/ros_basler_stereo/right/image_rect_color/compressed/parameter_updates
/ros_basler_stereo/right/image_rect_color/compressedDepth
/ros_basler_stereo/right/image_rect_color/compressedDepth/parameter_descriptions
/ros_basler_stereo/right/image_rect_color/compressedDepth/parameter_updates
/ros_basler_stereo/right/image_rect_color/theora
/ros_basler_stereo/right/image_rect_color/theora/parameter_descriptions
/ros_basler_stereo/right/image_rect_color/theora/parameter_updates
/ros_basler_stereo/stereo_image_proc/parameter_descriptions
/ros_basler_stereo/stereo_image_proc/parameter_updates
/ros_basler_stereo/stereo_image_proc_debayer_left/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_debayer_left/parameter_updates
/ros_basler_stereo/stereo_image_proc_debayer_right/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_debayer_right/parameter_updates
/ros_basler_stereo/stereo_image_proc_rectify_color_left/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_rectify_color_left/parameter_updates
/ros_basler_stereo/stereo_image_proc_rectify_color_right/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_rectify_color_right/parameter_updates
/ros_basler_stereo/stereo_image_proc_rectify_mono_left/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_rectify_mono_left/parameter_updates
/ros_basler_stereo/stereo_image_proc_rectify_mono_right/parameter_descriptions
/ros_basler_stereo/stereo_image_proc_rectify_mono_right/parameter_updates

Question about the code

Hi,

I'm using your code to generate the depth map from disparity image. It works well but I end up with some bad values.
I would like to know what the meaning of this line ?
mat(i)[2] < 1000

Why 1000 ? Can I change it ?

The results of the depth map is in meter, right ?

Thanks you

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