## repository: http://robotics.ccny.cuny.edu/git/ccny-ros-pkg.git/
= Deprecated =
Please see [[kinect_camera]] in [[kinect]] stack for the new version. 


= Old documentation =
<<PackageHeader(kinect_node)>> <<TOC(4)>>

{{http://ros.org/images/wiki/kinect_node/kinect_node.png}}

== Details ==
The [[kinect_node]] package provides a driver for using the Kinect RGB-D sensor with ROS. Currently this package depends on the [[libfreenect_install]] package which is a wrapper around the [[http://git.marcansoft.com/?p=libfreenect.git|libfreenect]] driver. The library is patched using Stéphane Magnenat's memory trash patch. 

This package currently outputs a <<MsgLink(sensor_msgs/PointCloud)>>, a RGB <<MsgLink(sensor_msgs/Image)>> and it's associated <<MsgLink(sensor_msgs/CameraInfo)>>. The PointCloud, Image, and CameraInfo are published with the same timestamp (the node will hold data until all 3 have become available).

For calibration information based on this package, please see [[/Calibration]].


== Future Work ==
 * Switch to PCL - PointCloud2 with RGB values - requires accurate cross-calibration of the cameras
 * Output Depthmap as an image topic
 * Improve 3D calibration
 * Publish the accelerometer data
 * Listen for pose information to control the camera motor

== Running ==

{{{
roscore  >& /dev/null &
rosrun kinect_node kinect_node  >& /dev/null &
rosrun rviz rviz
}}}

Set Fixed Frame to /kinect_depth or whatever name was provided with the kinect_depth_frame argument.

== Example ==

You can download the pre-recorded bag file of the video shown below from [[https://code.ros.org/svn/data/trunk/ccny/|here]]. This can be viewed in [[rviz]].

kinect_node.bag is 1.1GB of data and may not be useful.

kinect_node_subset.bag is a 143M subset of the above bag file.

{{{
roscore >& /dev/null &
rosrun rviz rviz >& /dev/null &
rosbag play -q -l kinect_node_subset.bag
}}}

In rviz select 'File > Open Config' from the main menu
then open the 'kinect_node/launch/demo.vcg' config file.

<<Youtube(jQgnuupBUI4)>>

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
 name = kinect_node
 desc = The `kinect_node` uses the libfreenect driver to access the Kinect RGB-D Sensor.

pub {
   0{
    name = cloud
    type = sensor_msgs/PointCloud
    desc = 3D Pointcloud data
   }
   1{
    name = image_raw
    type = sensor_msgs/Image
    desc = RGB Image Data
   }
   2{
    name = camera_info
    type = sensor_msgs/CameraInfo
    desc = CameraInfo Topic for Calibration
   }
  }

param{

    1.name = ~kinect_rgb_frame
    1.type = string
    1.default = `"/kinect_rgb"`
    1.desc = the name of the RGB camera frame

    1.name = ~kinect_depth_frame
    1.type = string
    1.default = `"/kinect_depth"`
    1.desc = the name of the Depth camera frame

    2.name = ~max_range
    2.type = float
    2.default = `5.0`
    2.desc = The maximum range of the sensor in meters, beyond this the error is too large.

    3.name = ~width
    3.type = int
    3.default = `640`
    3.desc = The width of the image returned by the Kinect

    4.name = ~height
    4.type = int
    4.default = `480`
    4.desc = The height of the image returned by the Kinect

    5.name = ~camera_name
    5.type = string
    5.default = `"camera"`
    5.desc = The name of the camera used by CameraInfo

    6.name = ~camera_info_url
    6.type = string
    6.default = `"file://ROS_PACKAGE_NAME/info/calibration.yaml"`
    6.desc = The location of the camera calibration file. Can also  be set to 'auto'
  }

 req_tf{
 }
 prov_tf{
 }

}}}

== References ==
[1] H. Martin, [[http://git.marcansoft.com/?p=libfreenect.git|"Open source Kinect driver"]], The Internets, 2010

== Bug Reports & Feature Requests ==
We appreciate the time and effort spent submitting bug reports.

Please use our [[http://robotics.ccny.cuny.edu/trac/|Trac]] to [[http://robotics.ccny.cuny.edu/trac/newticket?component=scan_tools/canonical_scan_matcher&type=defect|report bugs]] or [[http://robotics.ccny.cuny.edu/trac/newticket?component=scan_tools/canonical_scan_matcher&type=enhancement|request features]].

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