Is the disparity from /camera/depth/disparity 11bit raw data?

Question

Hi,guys,

I need to do some advanced kinect calibration so I need raw data instead of processed depth data. Any one know if /camera/depth/disparity is raw or not? Thank you!

Ranqi

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Originally posted by ranqi on ROS Answers with karma: 1 on 2012-08-14

Post score: 0

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Original comments

Comment by DiogoCorrea on 2012-12-10:
I have the same question. Do you know the answer now? Thanks.

Answer 1

Are you referring to the disparity image or the depth image published by the driver?

The depth image contains the distance from the camera to the scene along the z-axis (optical axis) of the camera. The ROS openni_camera driver publishes the depth image as a:

• 16-bit unsigned integer, in millimeters, on camera/depth/image_raw,
• float, in meters, on camera/depth/image.

(see depth_image_proc)

The ROS driver does not publish the nonlinear, 11-bit raw output of the Kinect.

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Originally posted by Ivan Dryanovski with karma: 4954 on 2012-12-10

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by DiogoCorrea on 2012-12-16:
I was a little confused and I actually wanted to know if the disparity data published by ROS (/camera/depth/disparity) was the same raw data of libfreenect driver. Apparently are not the same.

Thanks for your answer.