## repository: https://github.com/ccny-ros-pkg/ccny_rgbd_tools.git
<<PackageHeader(ccny_openni_launch)>> <<TOC(4)>>

## AUTOGENERATED DON'T DELETE
## CategoryPackage

== Details ==

The [[ccny_openni_launch]] package is a collection of utility launch files for using RGB-D cameras based on the OpenNI driver. The launch files use the `rgbd_image_proc` application from [[ccny_rgbd]] to process the raw sensor stream into rectified, registered RGB and depth images, and (optionally) a point cloud.

The package provides three top-level launch files: for launching a live device, for data recording, and for data playback.

The bags recorded will contain the raw RGB and Depth images at VGA resolution, together with their CameraInfo topics.

For more information about the output topics and parameters, see `rgbd_image_proc` in [[ccny_rgbd]].

=== Live operation ===

The [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/openni.launch | openni.launch]] file will launch the driver and the processing nodelets.

{{{
#!shell
roslaunch ccny_openni_launch openni.launch
}}}

{{attachment:openni_launch.png}}

=== Recording data ===

The [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/openni_record.launch | openni_record.launch]] file will launch the device driver and record the raw data to a bag. No processing is performed. The bag will include the raw RGB and depth images, together with their CameraInfo topics.

{{{
#!shell
roslaunch ccny_openni_launch openni_record.launch bag_name:=<path_to_ros_bag>
}}}

{{attachment:openni_record_launch.png}}

=== Playing bagged data ===

The [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/openni_play.launch | openni_play.launch]] file will play a recorded bag and launch the processing nodelets. The output of this launch file is the same as the output of [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/openni.launch | openni.launch]].

{{{
#!shell
roslaunch ccny_openni_launch openni_play.launch bag_name:=<path_to_ros_bag>
}}}

{{attachment:openni_play_launch.png}}

== Configuration files ==

You can pass configuration files to `ccny_openni_launch` by setting the `calib_path` parameter in [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/include/device.launch|device.launch]] and https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/include/proc.launch || proc.launch]]  

There are four configuration files of interes

 * '''rgb.yml''': RGB camera intrinsics and distortion
 * '''depth.yml''': Depth (or more accurately, IR) camera intrinsics and distortion
 * '''extr.yml''': Extrinsic matrix between the RGB and Depth cameras (rotation and translation)
 * '''warp.yml''': Per-pixel depth unwarping of the depth image, according to some polynomial model.

'''rgb.yaml''' and '''depth.yml''' are passed to the OpenNI driver ,which distributes them as CameraInfo topics. They can be generated using the [[camera_calibration]] package.

'''extr.yml'''and '''warp.yml''' are passed to `rgbd_image_proc`. They can be generated using [[ccny_rgbd_calibrate]] (coming soon).

Using '''warp.yml''' is optional and be disabled using a flag in `rgbd_image_proc`.

== Bug Reports & Feature Requests ==

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through [[https://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/|github]] (requires github account) or by emailing the maintainers.