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Both sides previous revision Previous revision Next revision | Previous revision | ||
opennilaunch [2015/10/28 15:40] nfave |
opennilaunch [2019/04/25 14:08] (current) |
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- | ====== Openni_Launch ====== | + | ====== Openni_Launch (ROS package)====== |
+ | {{tag>software Kinect tutorial ros_package}} | ||
This package is used to retrieve the informations from the kinect http://wiki.ros.org/openni_launch | This package is used to retrieve the informations from the kinect http://wiki.ros.org/openni_launch | ||
+ | ===== Installation ===== | ||
+ | In order to install the drivers and openni_launch, follow the instructions on http://yuechuan.me/ubuntu-12-04-%E4%B8%8A%E9%85%8D%E7%BD%AE-ros-%E5%92%8C-kinect/ | ||
===== Instructions ===== | ===== Instructions ===== | ||
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First, you need to install the package | First, you need to install the package | ||
- | Then (to translate) | + | Then, if you want to see the images : |
- | Voir image avec la kinect : | + | |
- | dans un terminal : | + | Open a terminal : |
roslaunch openni_launch openni.launch | roslaunch openni_launch openni.launch | ||
- | dans un autre terminal : | + | Open a new terminal : |
- | pour voir l'image en RGB : | + | |
+ | to see the RGB image : | ||
rosrun image_view image_view image:=/camera/rgb/image_color | rosrun image_view image_view image:=/camera/rgb/image_color | ||
- | pour voir l'image depth : | + | |
+ | to see the depth image : | ||
rosrun image_view image_view image:=/camera/depth/image | rosrun image_view image_view image:=/camera/depth/image | ||
- | pour voir l'image disparity : | + | |
+ | to see the disparity image : | ||
rosrun image_view disparity_view image:=/camera/depth/disparity | rosrun image_view disparity_view image:=/camera/depth/disparity | ||
- | pour pouvoir afficher des nuages de points : | + | to see the cloud point : |
rosrun rviz rviz | rosrun rviz rviz | ||
+ | |||
Then, you have to configurate rviz, you can use the following tutorial http://wiki.ros.org/openni_launch/Tutorials/QuickStart | Then, you have to configurate rviz, you can use the following tutorial http://wiki.ros.org/openni_launch/Tutorials/QuickStart |