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The ccny_openni_launch package is a collection of utility launch files for using RGB-D cameras based on the OpenNI driver. The launch files use the rgbd_image_proc application from ccny_rgbd to process the raw sensor stream into rectified, registered RGB and depth images, and (optionally) a point cloud.

The package provides three top-level launch files: for launching a live device, for data recording, and for data playback.

The bags recorded will contain the raw RGB and Depth images at VGA resolution, together with their CameraInfo topics.

For more information about the output topics and parameters, see rgbd_image_proc in ccny_rgbd.

Live operation

The openni.launch file will launch the driver and the processing nodelets.

   1 roslaunch ccny_openni_launch openni.launch


Recording data

The openni_record.launch file will launch the device driver and record the raw data to a bag. No processing is performed. The bag will include the raw RGB and depth images, together with their CameraInfo topics.

   1 roslaunch ccny_openni_launch openni_record.launch bag_name:=<path_to_ros_bag>


Playing bagged data

The openni_play.launch file will play a recorded bag and launch the processing nodelets. The output of this launch file is the same as the output of openni.launch.

   1 roslaunch ccny_openni_launch openni_play.launch bag_name:=<path_to_ros_bag>


Configuration files

You can pass configuration files to ccny_openni_launch by setting the calib_path parameter in device.launch and https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_openni_launch/launch/include/proc.launch || proc.launch]]

There are four configuration files of interes

rgb.yaml and depth.yml are passed to the OpenNI driver ,which distributes them as CameraInfo topics. They can be generated using the camera_calibration package.

extr.ymland warp.yml are passed to rgbd_image_proc. They can be generated using ccny_rgbd_calibrate (coming soon).

Using warp.yml is optional and be disabled using a flag in rgbd_image_proc.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.

2024-07-13 13:14