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blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.
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Unit of depth image #12

Closed mmurooka closed 8 years ago

mmurooka commented 8 years ago

According to http://www.ros.org/reps/rep-0118.html, the unit of depth image should be meter. OpenNI node, which publishes depth image in millimeters, is irregular.

https://github.com/JimmyDaSilva/realtime_urdf_filter/commit/1b920b9ea79d7d4aa160346213732bb9b219f64d supports only OpenNI node. We should support both of normal node and OpenNI node. The encoding of depth image is differ, so we can distinguish normal node and OpenNI node.

JimmyDaSilva commented 8 years ago

Sounds like a good plan @mmurooka ! An easy way to do so could to check if the values are below or under 100 before dividing by 1000 if z>100 then z/=1000

Or do have something more sophisticated in mind ?

mmurooka commented 8 years ago

How about https://github.com/blodow/realtime_urdf_filter/pull/13? I just confirmed that it works with the kinect in the gazebo environment. (normal node publishing the depth image of meter unit.) OpenNI node is not tested yet.

JimmyDaSilva commented 8 years ago

Seems like a proper way to do it.