Depth image from a Disparity image

asked 2014-05-16 07:53:51 -0600

vvaquero
46 ●1 ●2 ●5

Hi there,

I am using a Bumblebee2 stereo camera, and with the "stereo_image_proc" node, I am able to get the disparity image of the scene, as well as the point cloud...

But It would be more useful for me to have a normal grey-scale image. I know it is straightforward to get it from the disparity information, just applying the formula Z(depth) = T*f (camera parameters) / d (disparity), but I guess there should be another done performing this as well as the interpolation of the "NaN", "0", or "inf" pixels of the disparity image...

Any help? I've been looking around but couldn't find any.

Thanks!

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answered 2014-05-19 00:51:10 -0600

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

updated 2014-05-20 22:11:41 -0600

I faced the same problem and implemented a conversion nodelet based on the pointcloud2 nodelet in stereo_image_proc. The whole thing isn´t very polished (it´s still subscribing to the left camera image, although it wouldn´t have to for example) but it generates depth images as needed. See here on github and this example launch file.

/edit: Also created issue 71 at image_pipeline github on the topic.

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How do you run your package Stefan please ? I got an error and a Fatal error when i tried to use it. Thank

lilouch ( 2015-04-07 01:46:04 -0600 )edit

Hi, Stefan. I'm using your disparity_image_proc package to convert disparity image from stereo camera to depth image. Unfortunately depth image topic has no messages. I've posted the issue on the github, if you have time could you please give a hint on what possibly be wrong

Wintermute ( 2018-10-04 09:44:25 -0600 )edit

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answered 2014-05-16 15:40:46 -0600

Sudeep

460 ●4 ●5 ●14 http://web.iiit.ac.in/...

Hi, As you are looking for the depth of each point you can use nodelets of package stereo_image_proc, It computes point cloud2 and point cloud, using these data depth of each point can be obtained (Look for PCL examples for this).

Link : Look at the point 5.2/5.3 : stereo_image_proc/point_cloud2 here

-Sudeep

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answered 2014-05-20 05:43:14 -0600

vvaquero
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Thank you both!!

although I am not used to use nodelets, I manage to do the remapping on your launch, Stefan, and is now working. I will try now to get a better depth image!

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