kinect: freenect | kinect_calibration | kinect_camera | kinect_pcl

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Used by (1)

Package Summary

No API documentation

A general purpose ROS driver for the Microsoft XBOX 360 Kinect sensor. The driver publishes:

  • RGB/IR image data
  • depth data as PointCloud and PointCloud2
  • ...
There are two versions of the driver: a standard ROS node, and a nodelet.

Contents

  1. ROS API
    1. Kinect Node
      1. Published Topics
      2. Parameters

ROS API

Kinect Node

The Kinect node and nodelet implement the following ROS API:

Published Topics

camera/points (sensor_msgs/PointCloud)
  • The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 1
camera/points2 (sensor_msgs/PointCloud2)
  • The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 2
camera/rgb/camera_info (sensor_msgs/CameraInfo)
  • Metadata (camera matrix, distortion, rectification, projection) for the color camera
camera/rgb/image_raw (sensor_msgs/Image)
  • The raw uncompressed images of the color camera
camera/depth/camera_info (sensor_msgs/CameraInfo)
  • Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera
camera/depth/image_raw (sensor_msgs/Image)
  • The raw uncompressed images of the infrared depth camera

Parameters

kinect_node/depth/camera_info_url (namespace on parameter server)
  • Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera.

Wiki: kinect_camera (last edited 2010-11-23 17:07:53 by wim)

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