176x144 Video Converter

[Finley Chopin]

Iam very new to ROS and am working on building a system from ground-up to understand the concepts better. I am trying to convert a depthmap (received from visionary-t time of flight camera as a sensor_msgs/Image message) into a pointcloud. I am looping through the width and the height of the image (in my case 176x144 px) say (u, v) and the value at (u, v) is Z in meters. I then use the intrinsic camera metrics (c_x, c_y, f_x, f_y) to convert the local (u, v) co-ordinates to global (X, Y) co-ordinates and for this, I make use of the pinhole camera model.

I then save these points into pcl::PointXYZ. My camera is mounted on top and the view is of a table with some objects on it. Although my table is flat, when I convert the depthmaps to pointclouds, I see that in the pointcloud, the table has a convex shape and is not flat.

What is H263?

H.263 is a video compression standard originally designed as a low-bitrate compressed format for videoconferencing. H.263v2 (also known as H.263+, or as the 1998 version of H.263) is the informal name of the second edition of the ITU-T H.263 international video coding standard. It retained the entire technical content of the original version of the standard, but enhanced H.263 capabilities by adding several annexes which can substantially improve encoding efficiency and provide other capabilities (such as enhanced robustness against data loss in the transmission channel). The H.263+ project was ratified by the ITU in February 1998. In comparison with previous codecs H.263 allows high compression ratio. H.263 is a standard video-conferencing codec. As such, it is optimized for low data rates and relatively low motion. H.263 is a hybrid of interframe compression and intraframe transform coding. H.263 has a strong temporal compression component, and works best on movies in which there is little change between frames. H.263 supports for a limited set of picture sizes: 128x96, 176x144, 352x288, 704x576, and 1408x1152. H.263 has since found many applications on the internet: much Flash Video content (as used on sites such as YouTube, Google Video, MySpace, etc.) used to be encoded in Sorenson Spark format (an incomplete implementation of H.263), though many sites now use VP6 or H.264 encoding. H.263 is a successor of H.26x video codec standards. The differences between the H.261 and H.263 coding algorithms are listed below. Half pixel precision is used for motion compensation whereas H.261 used full pixel precision and a loop filter.

What is 3GP?

3GP is a simplified version of the MPEG-4 Part 14 (MP4) container format, designed to decrease storage and bandwidth requirements in order to accommodate mobile phones. It also contains descriptions of image sizes and bitrate. For the storage of MPEG-4 media specific information in 3GP files, the 3GP specification refers to MP4 and the AVC file format, which are also based on the ISO base media file format. 3GPP file format was designed for GSM-based Phones and may have the filename extension ".3gp". Audio imported from CD onto a PlayStation 3 when it is set to encode to the MPEG-4 AAC codec will copy onto USB devices in the 3GP format. Tailored to the unique requirements of mobile devices, 3GPP and 3GPP2 take advantage of MPEG-4, the standard for delivery of video and audio over the Internet. The MP4 and the AVC file format specifications described usage of MPEG-4 content in the ISO base media file format. 3GPP is based on the MPEG-4 standard which was derived from Apple's QuickTime. Some cell phones use the .mp4 extension for 3GP video. The 3GP is used on 3G mobile phones but can also be played on some 2G and 4G phones. The 3GP file type is primarily associated with '3GPP'. The 3GP file format stores video streams as MPEG-4 Part 2 or H.263 or MPEG-4 Part 10 (AVC/H.264), and audio streams as AMR-NB, AMR-WB, AMR-WB+, AAC-LC, HE-AAC v1 or Enhanced aacPlus (HE-AAC v2). Designed as a multimedia format for transmitting audio and video files between 3G cell phones and over the Internet; commonly used by mobile phones that support video capture. The Nintendo DSi supports .3gp on an SD card. 3GPP is worldwide standard for the creation, delivery and playback of multimedia over 3rd generation, high-speed wireless networks.

The original sampled is played OK with yuv player.But on trying to play the converted sampleffmpeg -pix_fmt yuv420p -s 176x144 -i carphone_qcif.yuv -pix_fmt nv12carphone_qcif_nv12.yuvthe result seems is bad when trying to play it with the same yuv player (the setting for qcif 176x144, and NV12 ).Is there something wrong with ffmpeg convert ?

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