windows tools for use realsense camera in ROS
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windows_app add windows app code Mar 22, 2015
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README.md

README.md

realsense_camera_tools

win tools for use realsense camera in ROS

Those tools use for get realsense camera properties and RGB to depth UVmap data

Detail

I used a stupid way to get camera info and register RGB image to depth image.

The uvmap file like uv coordinate in 3D graphics.

Each depth value at each xy coordinate in depth image have a diffent mapped xy coordinate in RGB image.

The file name means the depth value (mm).

Note

The recommend depth value is 0~800(mm)

You can change #define DEPTH_END 2047 (main.h) to your custom value. 2047 is the maximum depth value from camera properties.

Dependencies

realsense camera SDK

This was tested with with F200 Depth Camera Manager (DCM) v1.2 and Realsense SDK v4.0.0, although newer versions may also work.

Installation instructions

  1. Download F200 Depth Camera Manager (DCM) v1.2. Note that newer versions may also work.
  2. For the SDK, you'll need to register here. After this you can install either the newest version of the SDK or v4.0.0 for which this was tested.
  3. You'll also need to compile the code. Easiest is to install Microsoft Visual Studio 2010 or similar. You can then open the VC++ Project files.

Run

DF_CameraViewer

use to get camera properties

DF_RawStreams

use to get RGB to depth UVmap data

Q&A

maybe screenshot can help you.

RGB to depth misalignment

First, I suggest that you to update realsense's firmware.

Then, do the following steps!

uvmap_step1

uvmap_step2

uvmap_step3

uvmap_step4