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The node kinect_2d_scanner makes easy to connect to a Kinect sensor and publish equivalent 2D "fake laser" scans.


Internally, the node uses mrpt-hwdrivers which in turn uses libfreenect to directly open the sensor. Since only 2D scan data is published here, you should employ this node only if you won't need the 3D points.

All obstacles within a frustum are considered and the minimum distance is kept in each direction. The horizontal FOV of the frustum is automatically computed from the intrinsic parameters of the range camera, but the vertical FOV must be provided by the user, and can be set to be asymetric which may be useful depending on the zone of interest where to look for obstacles. See this video for an illustration of the frustum geometry and 3D obstacle points.


All spatial transformations are riguorously taken into account in this class, using the depth camera intrinsic calibration parameters. Calibration data should be provided in the format expected by MRPT (explain me!), but default values will be used otherwise.


Test with:

roscd kinect_2d_scanner
roslaunch kinect_2d_scanner_test.launch

Read kinect_2d_scanner_test.launch for more details.

This node implements the dynamic_reconfigure interface.

2024-06-15 12:57