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openni.launch
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openni.launch
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<!-- Launch OpenNI driver and process the data -->
<launch>
<!-- Parameters -->
<arg name="manager_name" default="rgbd_manager"/>
<arg name="calib_path" default="$(find ccny_rgbd_data)/calibration_openni_default"/>
<arg name="unwarp" default="false"/>
<arg name="scale" default="1.0"/>
<arg name="publish_cloud" default="true"/>
<arg name="verbose" default="false"/> # to display rgbd_image_proc messages
<arg name="image_mode" default="2" />
<arg name="depth_mode" default="2"/>
# modes:
# 2 (640x480 VGA 30Hz)
# 5 (320x240 QVGA 30Hz)
# 8 (160x120 QQVGA 30Hz)
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg manager_name)" args="manager"
output="screen"/>
<!-- Driver nodelet -->
<include file="$(find ccny_openni_launch)/launch/include/device.launch">
<arg name="manager_name" value="$(arg manager_name)" />
<arg name="calib_path" value="$(arg calib_path)" />
<arg name="image_mode" value="$(arg image_mode)" />
<arg name="depth_mode" value="$(arg depth_mode)" />
</include>
<!-- RGBD processing -->
<include file="$(find ccny_openni_launch)/launch/include/proc.launch">
<arg name="manager_name" value="$(arg manager_name)" />
<arg name="calib_path" value="$(arg calib_path)" />
<arg name="unwarp" value="$(arg unwarp)" />
<arg name="scale" value="$(arg scale)" />
<arg name="publish_cloud" value="$(arg publish_cloud)" />
<arg name="verbose" value="$(arg verbose)"/>
</include>
</launch>