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Package Summary
Contains a set of launch files for freenect_camera to produce rectified, registered and/or disparity images. Also used to produce point clouds and registered point clouds. Based on the openni_launch package.
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port)
- License: BSD
- Source: git https://github.com/piyushk/freenect_stack.git (branch: master)
Package Summary
Launch files for freenect_camera to produce rectified, registered or disparity images. Also produce point clouds and registered point clouds. Based on the openni_launch package.
- Maintainer status: maintained
- Maintainer: Jack O'Quin <jack.oquin AT gmail DOT com>, Piyush Khandelwal <piyushk AT gmail DOT com>
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port)
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/freenect_stack/issues
- Source: git https://github.com/ros-drivers/freenect_stack.git (branch: freenect_stack-0.2.2)
Package Summary
Launch files for freenect_camera to produce rectified, registered or disparity images. Also produce point clouds and registered point clouds. Based on the openni_launch package.
- Maintainer status: maintained
- Maintainer: Jack O'Quin <jack.oquin AT gmail DOT com>, Piyush Khandelwal <piyushk AT gmail DOT com>
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port) <piyushk AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/freenect_stack/issues
- Source: git https://github.com/ros-drivers/freenect_stack.git (branch: hydro-devel)
Package Summary
Launch files for freenect_camera to produce rectified, registered or disparity images. Also produce point clouds and registered point clouds. Based on the openni_launch package.
- Maintainer status: maintained
- Maintainer: Jack O'Quin <jack.oquin AT gmail DOT com>, Piyush Khandelwal <piyushk AT gmail DOT com>
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port) <piyushk AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/freenect_stack/issues
- Source: git https://github.com/ros-drivers/freenect_stack.git (branch: master)
Package Summary
Launch files for freenect_camera to produce rectified, registered or disparity images. Also produce point clouds and registered point clouds. Based on the openni_launch package.
- Maintainer status: maintained
- Maintainer: Jack O'Quin <jack.oquin AT gmail DOT com>, Piyush Khandelwal <piyushk AT gmail DOT com>
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port) <piyushk AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/freenect_stack/issues
- Source: git https://github.com/ros-drivers/freenect_stack.git (branch: master)
Package Summary
Launch files for freenect_camera to produce rectified, registered or disparity images. Also produce point clouds and registered point clouds. Based on the openni_launch package.
- Maintainer status: maintained
- Maintainer: Jack O'Quin <jack.oquin AT gmail DOT com>, Piyush Khandelwal <piyushk AT gmail DOT com>
- Author: Patrick Mihelich (original openni_launch package), Piyush Khandelwal (libfreenect port) <piyushk AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-drivers/freenect_stack/issues
- Source: git https://github.com/ros-drivers/freenect_stack.git (branch: master)
New in Fuerte
Contents
Overview
This package contains launch files for using a Microsoft Kinect using the libfreenect library. This folder replicates the API offered by openni_launch in an effort to maintain maximum compatibility with the OpenNI driver. Differences are mentioned below.
To use this package, please refer to openni_launch and rgbd_launch documentation. The migration guide to/from the OpenNI driver is documented here.
The main launch script can be run using the following command:
roslaunch freenect_launch freenect.launch
Modifications from openni_launch
freenect_launch contains a few modifications from openni_launch apart from running the libfreenect based driver. These are documented below.
freenect_launch vs openni_launch
freenect.launch does not support selecting the Kinect using the USB bus address. It also does not support every image mode provided by openni.launch. See the migration guide for more info.
freenect.launch supports additional parameters for launching kinects under different namespaces. See freenect-ns.launch for an example.
freenect.launch includes parameters for enabling diagnostics support in the freenect_camera driver. Useful for debugging a working system. See freenect-diagnostics.launch for an example on how to use these parameters.
freenect.launch can also enable verbose libfreenect output. Useful for debugging errors. Use freenect-debug.launch to see how to enable verbose output.
Additional Launch Files
There are a few additional launch files in freenect_launch that demonstrate running a different constellation of nodelets. This is useful for launching the minimum set of required processing nodelets, as well as avoid unnecessary warnings during launch. For example:
freenect-xyz.launch - provides the pointcloud /camera/depth/points. Disables device registration.
freenect-registered-xyzrgb.launch - provides the pointcloud /camera/depth_registered/points. Enables device registration.
