<> <> == Description == The node ''kinect_2d_scanner'' makes easy to connect to a Kinect sensor and publish equivalent 2D "fake laser" scans. ||<:width="99%"> {{attachment:kinect_2d_scanner_screenshot_rviz_reconfigure.png}} || 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 [[http://www.youtube.com/watch?v=87WCumXwA38|this video]] for an illustration of the frustum geometry and 3D obstacle points. ||<:width="99%"> {{attachment:kinect_2d_scanner_screenshot_frustum.png}} || All spatial transformations are riguorously taken into account in this class, using the depth camera intrinsic calibration parameters. [[http://www.mrpt.org/Kinect_calibration|Calibration data]] should be provided in the format expected by MRPT (explain me!), but default values will be used otherwise. == Usage == Test with: {{{#!bash roscd kinect_2d_scanner roslaunch kinect_2d_scanner_test.launch }}} Read [[http://mrpt-ros-pkg.googlecode.com/svn/trunk/mrpt_hwdrivers/kinect_2d_scanner/kinect_2d_scanner_test.launch|kinect_2d_scanner_test.launch]] for more details. This node implements the [[dynamic_reconfigure]] interface. ## AUTOGENERATED DON'T DELETE ## CategoryPackage