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Overview

This package contains launch files for using RGB-D devices such as the Microsoft Kinect in ROS. It creates a nodelet graph to transform raw data from the device driver into point clouds, disparity images, and other products suitable for processing and visualization.

rgbd_launch contains all the common launch files required by a driver specific launch package such as openni_launch or freenect_launch. There are 2 important launch files:

• processing.launch.xml - Top-level launch file not designed for direct execution, but should be included from driver-specific launch files. This file launches a constellation of nodelets to process data from a RGB-D driver such as openni_camera or freenect_camera. This file also accepts a number of arguments designed to streamline the constellation of nodelets.

• kinect_frames.launch - Launch the tf tree for a Kinect. This file can also be launched internally from openni_launch or freenect_launch.

Launch Files

rgbd_launch contains many internal launch files to split up processing. Only the following launch files should be used externally:

processing.launch.xml

Launches many processing nodelets for turning the raw RGB and depth images into useful products, such as point clouds. Allows a number of arguments to streamline processing.

Arguments

Streamline processing nodelet graph

rgb_processing (bool, default: true)

• Launch nodelets for generating raw and rectified monochrome and color images. Given bayer encoded images on the rgb/image_raw topic from the RGB-D driver, the rgb processing chain produces rgb/image_mono, rgb/image_rect_mono, rgb/image_color and rgb/image_rect_color.

debayer_processing (bool, default: true)

• Usage of this parameter requires rgb_processing to be true. Debayers the image into monochrome and color. If set to true then explanation for rgb_processing directly applies. If set to false the rgb processing chain only produces rgb/image_rect_color.

ir_processing (bool, default: true)

• If set to true, rectifies the raw IR image (ir/image_raw -> ir/image_rect_raw)

depth_processing (bool, default: true)

• Given the raw depth image, rectifies it, converts both the raw and rectified images to metric format (uint16 -> float), and produces a pointcloud. Requires depth/image_raw. Produces depth/image_rect_raw (rectified), depth/image (metric), depth/image_rect (rectified, metric), depth/points (pointcloud).

depth_registered_processing (bool, default: true)

• Generates a registered RGBD pointcloud from the device data (requires rgb_processing to be enabled). A pointcloud can be generated through a software registration pipeline (sw_registered_processing = true, used when depth_registration for device driver is set to false ) by registering the depth image from the depth frame to an RGB frame and merging with the RGB image. If software registration is being used, depth_processing needs to be enabled. Alternatively, the device can be directly asked to generate a registered depth image in the RGB frame with can be merged with the RGB Image through the hardware registration pipeline (hw_registered_processing = true, used when depth_registration for device driver is set to true)

disparity_processing (bool, default: true)

• Generates a disparity image from unregistered depth data (i.e. in the depth frame). Converts depth/image_rect_raw and projector/camera_info into the disparity image depth/disparity. Requires depth_processing to be enabled.

sw_registered_processing (bool, default: true)

• Enables the software registration pipeline. depth/image_rect_raw -> depth_registered/sw_registered/image_rect_raw (registered) -> depth_registered/points AND depth_registered/disparity.

hw_registered_processing (bool, default: true)

• Enables the hardware registration pipeline. depth/image_raw -> depth_registered/hw_registered/image_rect_raw (rectified) -> depth_registered/points AND depth_registered/disparity.

queue_size (int, default: 5)

• Size of message queue for synchronizing image and camera_info topics. You may need to raise this if images take significantly longer to travel over the network than camera info.

Remapping

rgb (string, default: rgb)

• Remap the rgb namespace.

ir (string, default: ir)

• Remap the ir namespace.

depth (string, default: depth)

• Remap the depth namespace.

depth_registered (string, default: depth_registered)

• Remap the depth_registered namespace.

projector (string, default: projector)

• Remap the projector namespace.

Example Parameter Configurations

freenect_launch contains some example configurations that you can run and test running nodelets in the system:

roslaunch freenect_launch freenect-xyz.launch
roslaunch freenect_launch freenect-registered-xyzrgb.launch

The first launch files only produces a pointcloud from depth data. The second launch file produces a registered pointcloud using hardware registration on the device.