how to read 16UC1 encoded uint8 depth data

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.

Answer 1

[Walter Roberson]

reshape(typecast(Data, 'uint16'), Height, Width)

Possibly you might need

reshape(typecast(Data, 'uint16'), Width, Height) .'

[Ramanpreet]

Perfect! Really appreciate the quick response!

Answer 2

[Sebastian Castro]

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