• Diff for "openni_camera"
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⇤ ← Revision 11 as of 2010-12-16 23:10:47 →
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Editor: gedikli
Comment:
← Revision 13 as of 2011-01-07 09:36:32 → ⇥
Size: 2608
Editor: StephaneMagnenat
Comment: typo fix
Deletions are marked like this. Additions are marked like this.
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 Note: for downsampled images only a 2x2 block for each pixel is used. Thus Fast/Best has no effect on the donwsampled images.  Note: for downsampled images only a 2x2 block for each pixel is used. Thus Fast/Best has no effect on the downsampled images.
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The difference between the pointcloud types XYZ_unregistered and XYZ_registered is, that for the unregistered version there is no direct pixel association in the color image.

Note the SXGA resolution is not available for the disparity image and the pointcloud.

  Show EOL distros: 

openni_kinect: nite | openni | openni_camera | openni_camera_unstable | openni_tracker

Package LinksDependencies (10)
Used by (4)

Package Summary

No API documentation

A general purpose ROS driver for all OpenNI cameras. The driver publishes:

  • /camera/depth/camera_info : Camera parameters for the IR (depth) camera
  • /camera/depth/image : single channel floating point (float32) depth image, containing the depth in meters.
  • /camera/depth/points : point cloud without color information
  • /camera/rgb/camera_info : Camera parameters for the RGB camera
  • /camera/rgb/image_color : RGB image
  • /camera/rgb/image_mono : Grayscale image
  • /camera/rgb/points : point cloud containing RGB value for each point
There are two versions of the driver: a standard ROS node, and a nodelet.

openni_kinect: depth_image_proc | nite | openni | openni_camera | openni_launch | openni_tracker
Package LinksDependencies (14)
Used by (13)

Package Summary

Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include:

  • Microsoft Kinect
  • PrimeSense PSDK
  • ASUS Xtion Pro (no RGB)
The driver publishes raw depth, RGB, and IR image streams.

openni_camera
Package LinksDependencies (9)
Used by (25)

Package Summary

Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include:

  • Microsoft Kinect
  • PrimeSense PSDK
  • ASUS Xtion Pro and Pro Live
The driver publishes raw depth, RGB, and IR image streams.

openni_camera
Package LinksDependencies (10)
Used by (17)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

Package LinksDependencies (11)
Used by (3)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

Package LinksDependencies (7)
Used by (3)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: maintained
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: indigo-devel)
Package LinksDependencies (7)
Used by (1)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: maintained
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: indigo-devel)
Package LinksDependencies (7)
Used by (1)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: maintained
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: indigo-devel)
Package LinksDependencies (7)
Used by (1)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: maintained
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: indigo-devel)
Package LinksDependencies (7)
Used by (1)
Jenkins jobs (6)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: maintained
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: indigo-devel)
Package LinksDependencies (7)
Used by (1)
Jenkins jobs (10)

Package Summary

Released
Documented

A ROS driver for OpenNI depth (+ RGB) cameras. These include: Microsoft Kinect, PrimeSense PSDK, ASUS Xtion Pro and Pro Live The driver publishes raw depth, RGB, and IR image streams.

  • Maintainer status: unmaintained (It is still usable for an old device i.e. MS Kinect, but for other openni devices, use openni2 instead.)
  • Maintainer: Isaac I.Y. Saito <130s AT 2000.jukuin.keio.ac DOT jp>
  • Author: Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
  • License: BSD
  • Source: git https://github.com/ros-drivers/openni_camera.git (branch: ros1)

Contents

  1. Kinect Demo
  2. Changing driver settings
  3. Coordinate Frames

Kinect Demo

Launch the kinect driver: 

roslaunch openni_camera openni_kinect.launch

To view in rviz, launch rviz: 

rosrun rviz rviz

Set the Fixed Frame (top left of rviz window) to /openni_depth_optical_frame.

Add a Point Cloud2 display, and set the topic to /camera/depth/points2.

Turning the background to light gray can help with viewing.

To view the color image in image_viewer: 

rosrun image_view image_view image_view image:=/camera/rgb/image_color

or following to view the grayscale image: 

rosrun image_view image_view image_view image:=/camera/rgb/image_mono

Changing driver settings

start dynamic_reconfigure 

rosrun dynamic_reconfigure reconfigure_gui

select /openni_node. You should see something like this:

  1. point cloud type
    • XYZ unregistered: uncolored pointcloud with no direct association between the 3D points and pixels in rgb or grayscale image.
    • XYZ registered: uncolored pointcloud. The rgb / grayscale value can be obtained easily from the rgb or grayscale image.
    • XYZ RGB: pointcloud with accoring rgb values.
  2. point cloud resolution
    • QQVGA: pointcloud established from 160x120 depth image with 30Hz.
    • QVGA: pointcloud established from 320x240 depth image with 30Hz.
    • VGA: pointcloud established from 640x480 depth image with 30Hz.
    • SXGA: not available for point clouds.
  3. debayering
    • Fast: a fast implementation using just bilinear interpolation.
    • Best: an edge-aware algorithm that uses linear interpolation only along edges.
    Note: for downsampled images only a 2x2 block for each pixel is used. Thus Fast/Best has no effect on the downsampled images.
  4. image resolution:
    • QQVGA: 160x120 image obtained from 640x480 bayer image at 30Hz.
    • QVGA: 320x240 image obtained from 640x480 bayer image at 30Hz.
    • VGA: 640x480 image obtained from 640x480 bayer image at 30Hz.
    • SXGA: 1280x1024 image obtained from 1280x1024 bayer image at ~10Hz.
  5. disparity resolution: same options available as for point clouds.

Coordinate Frames

As per REP103 the following coordinate frames are layed out for the kinect/Primesense Reference Device 

/openni_camera
|
|> /openni_rgb_frame
|  |
|  |> /openni_rgb_optical_frame  (Z forward)
|
|> /openni_depth_frame
   |
   |> /openni_depth_optical_frame (Z forward)

Wiki: openni_camera (last edited 2016-04-27 08:44:08 by MartinGuenther)

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