how to read 16UC1 encoded uint8 depth data

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Ramanpreet
Ramanpreet 2016-6-10
回答： Sebastian Castro 2018-3-21
I have a ros bag file saved from ubuntu using rosbag capture command on the terminal using a kinect and some other sensors. Now i am trying to read the file in matlab on my windows machine. I can read the data, and color image just fine. For color image, i had to demosaic but it works correctly.
My problem is arising on depth image. As you can see in the image it is saved using 16uc1 flag, but is a uint8 datatype with double the arraysize (640*480 should be 307200, this one is twice that). How do i read in the depth information properly in matlab from a standard rosbag file. The topic i am listening to is /camera/depth_registered/image_raw is that helps.

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采纳的回答

Walter Roberson
Walter Roberson 2016-6-10
reshape(typecast(Data, 'uint16'), Height, Width)
Possibly you might need
reshape(typecast(Data, 'uint16'), Width, Height) .'

更多回答（1 个）

Sebastian Castro
Sebastian Castro 2018-3-21
While Walter's approach is correct, there is a Robotics System Toolbox function called "readImage" which already operates on these image ROS messages and uses whatever encoding is provided.
img = readImage(msg)
... where msg corresponds to the above object.
- Sebastian

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