Pepper: matching depth (Asus Xtion) to color (Front Camera)

[Giovanni Claudio]

Hi,

If I am not wrong, Pepper is equipped with the Asus Xtion PRO, that has only the depth. I was wondering how to register the depth with the color information coming from the front camera. 

Right now naoqi_ros publishes:

/pepper_robot/camera/depth/camera_info 
/pepper_robot/camera/depth/image_raw

Is it possible in naoqi_ros to get a depth registered to the front camera frame?

It seems not for now. If the only way is to code it, I guess I would need to calibrate the IR camera, 

the RGB camera and to compute the transformation between the two.

Any suggestion?

Thanks!

Giovanni

[Natalia Lyubova]

Hello Giovanni,

it is possible to register depth image and align it with RGB to get a colored pointcloud, like that:

* Install an image processing tool (based on OpenCV) http://wiki.ros.org/depth_image_proc

sudo apt-get install ros-indigo-depth-image-proc

* launch naoqi_driver (it is prefered than pepper_bringup)
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<the robot ip> network_interface:=<eth0|wlan0>

* launch depth_image_proc to align depth and RGB

rosrun nodelet nodelet manager __name:=nodelet_manager

rosrun nodelet nodelet load depth_image_proc/register nodelet_manager rgb/camera_info:=/naoqi_driver_node/camera/front/camera_info depth/camera_info:=/naoqi_driver_node/camera/depth/camera_info depth/image_rect:=/naoqi_driver_node/camera/depth/image_raw depth_registered/image_rect:=/naoqi_driver_node/camera/depth_registered/image_rect

rosrun nodelet nodelet load depth_image_proc/point_cloud_xyzrgb nodelet_manager rgb/camera_info:=/naoqi_driver_node/camera/front/camera_info rgb/image_rect_color:=/naoqi_driver_node/camera/front/image_raw depth_registered/image_rect:=/naoqi_driver_node/camera/depth_registered/image_rect depth_registered/points:=/naoqi_driver_node/camera/depth_registered/points

* Finally, you see a colored pointCloud published to /naoqi_driver_node/camera/depth_registered/points


Best regards,
Natalia

[Giovanni Claudio]

Thanks Natalia! I missed that package. Very helpful.

I will try it soon.

Giovanni

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[Kei Okada]

FYI: related topic has been discussed in github issue page -> https://github.com/ros-naoqi/naoqi_driver/pull/71

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◉ Kei Okada