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Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

Package Summary

Launch files to open an RGBD device and load all nodelets to convert raw depth/RGB/IR streams to depth images, disparity images, and (registered) point clouds.

New in Hydro

Overview

This package contains launch files for using RGB-D devices such as the Microsoft Kinect in ROS. It creates a nodelet graph to transform raw data from the device driver into point clouds, disparity images, and other products suitable for processing and visualization.

rgbd_launch contains all the common launch files required by a driver specific launch package such as openni_launch or freenect_launch. There are 2 important launch files:

Launch Files

rgbd_launch contains many internal launch files to split up processing. Only the following launch files should be used externally:

processing.launch.xml

Launches many processing nodelets for turning the raw RGB and depth images into useful products, such as point clouds. Allows a number of arguments to streamline processing.

Arguments

Streamline processing nodelet graph
rgb_processing (bool, default: true) debayer_processing (bool, default: true) ir_processing (bool, default: true) depth_processing (bool, default: true) depth_registered_processing (bool, default: true) disparity_processing (bool, default: true) sw_registered_processing (bool, default: true) hw_registered_processing (bool, default: true)

Remapping
rgb (string, default: rgb) ir (string, default: ir) depth (string, default: depth) depth_registered (string, default: depth_registered) projector (string, default: projector)

Example Parameter Configurations

freenect_launch contains some example configurations that you can run and test running nodelets in the system:

roslaunch freenect_launch freenect-xyz.launch
roslaunch freenect_launch freenect-registered-xyzrgb.launch

The first launch files only produces a pointcloud from depth data. The second launch file produces a registered pointcloud using hardware registration on the device.


2019-07-20 13:06