![]() depth_time_offset: Since the device does not return a time stamp which is synchronized with system clock, there is a delay between the capturing time and the time where the ROS message is created.Note: subscribing to /camera/rgb/points turns on registration automatically and can not turned if any nodes subscribe to that topic.Note: if registration is turned on, the point clouds are in the '/openni_rgb_optical_frame', otherwise they are in '/openni_depth_optical_frame'.depth_registration: whether the depth image should be registered to the RGB image or not.depth mode: same as image mode, except no SXGA is supported.Note: for down sampled images, the debayering is done on a 2x2 block.(recommended)ĮdgeAwareWeighted: uses bilinear interpolation weighted with the according gradient. Bilinear: A fast debayering algorithm, but poor results on edges.ĮdgeAware: uses linear interpolation only in direction with lowest gradient.debayering: Only valid for Kinect, since Primesense device streams uses YUV.Primesense device does not support SXGA yet, but all VGA and QVGA modes - only QQVGA is down sampled by the driver.Kinect supports natively just which actually streams ~10Hz, and All other modes at 30Hz are down sampled in the driver and modes at 25Hz are not supported by the Kinect.Rosrun dynamic_reconfigure reconfigure_gui Rosrun image_view image_view image:=/camera/rgb/image_mono Or following to view the grayscale image: Rosrun image_view image_view image:=/camera/rgb/image_color Turning the background to light gray can help with viewing. Set the Fixed Frame (top left of rviz window) to /openni_rgb_optical_frame.Īdd a Point Cloud2 display, and set the topic to /camera/rgb/points. Roslaunch openni_camera openni_node.launch For migration help and API reference, see openni_camera_deprecated.ĭon't forget to build the driver if you haven't already done so: The Diamondback OpenNI driver API is deprecated as of Fuerte.
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