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Publishing a Point Cloud Topic? #28
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This would be done with a depth_image_proc node instead |
Gotcha, will give it a try. Thanks! |
Hi -- I created a launch file that publishes the points using depth_image_proc. Feel free to distribute with kinect2_bridge. Stefanie <launch>
<arg name="manager" value="kinect2_nodelet_manager" />
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="false" />
<arg name="num_worker_threads" value="4" />
</include>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_lowres"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
respawn="false">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/camera_info" to="/kinect2_head/rgb_rect/camera_info" />
<remap from="rgb/image_rect_color" to="/kinect2_head/rgb_rect/image" />
<remap from="depth_registered/image_rect" to="/kinect2_head/depth_lowres/image" />
<remap from="depth_registered/points" to="/kinect2_head/depth_lowres/points" />-->
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_highres"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
respawn="false">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/camera_info" to="/kinect2_head/rgb_rect/camera_info" />
<remap from="rgb/image_rect_color" to="/kinect2_head/rgb_rect/image" />
<remap from="depth_registered/image_rect" to="/kinect2_head/depth_highres/image" />
<remap from="depth_registered/points" to="/kinect2_head/depth_highres/points" />-->
</node>
</launch>
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I added the nodes for publishing to the launch file |
Hi, I am trying to use the point cloud for SLAM, but just cannot understand why it is not published. Do I neet to set some paramter for the points topics to be published, or is there something wrong? |
Point clouds are created by image_proc. Those nodes are only started with the launch file. You have to launch the launch file instead of directly running the node. |
Ah, thank you - though it is fairly obvious I did not think of it after On Sun, Mar 22, 2015 at 4:54 AM, Thiemo Wiedemeyer <notifications@github.com
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Hi --
Thanks for writing the Kinect 2 driver. I'm wondering if the driver publishes a point cloud topic, so we can view the points in RVIZ?
I found this package which converts it to PCL:
https://github.com/giacomodabisias/libfreenect2pclgrabber so I think it would be something like, convert the cloud to PCL and then publish a PountCloud2 topic for both the low and highres camera streams: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
Stefanie
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