Re: [Ros-kinect] ROS, Kinect

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Re: [Ros-kinect] ROS, Kinect

What OS are you running? If you're a lucky Ubuntu user, you can just pull the binary packages (see Once you get ROS, you can:

$ rosrun pcl_tutorials pointcloud_online_viewer input:=/camera/points2

Provided that you simply ran the ROS driver as:

$ rosrun kinect_camera kinect_node

Then if you want to apply some filters from PCL, such as downsampling for example, do:

$ rosrun nodelet nodelet manager
$ rosrun nodelet nodelet load pcl/VoxelGrid manager /pcl_VoxelGrid/input:=/camera/points2
$ rosrun pcl_tutorials pointcloud_online_viewer input:=/pcl_VoxelGrid/output

You want to apply a Moving Least Squares smoothing algorithm to the input data so that it looks better? Surface
reconstruction? etc... it's all there, but you need to dig through the documentation/tutorials/examples ;)

Now if you do not want to run ROS (I cannot imagine why not, but whatever), and you want to get all these 3D operations
working in your C++ project, wait until next week (or help us do it faster) until PCL ( will
hopefully be available as a standalone library outside of ROS.


On 11/19/2010 10:27 AM, jy wrote:

> Is there a basic instruction on how to get the point cloud? I am new
> to ROS and having hard time trying to figure it out.
> I got the code from and followed
> instruction there. Then what do I do?
> Thanks
> On Nov 18, 1:03 pm, Radu Bogdan Rusu<[hidden email]>  wrote:
>> Alper,
>> Great to have you onboard!
>> Cheers,
>> Radu.
>> On 11/17/2010 02:17 PM, Alper Aydemir wrote:
>>> Hi everyone,
>>> Alper from CVAP/KTH reporting for duty. The speed of development on this is really impressive. We've already got a guy
>>> to work only on sensing with Kinect (a hiwi) and couple of projects in the pipe to useros-kinect, looks like it will
>>> only get better from here.
>>> Cheers,
>>> Alper
>>> On Wed, Nov 17, 2010 at 9:46 PM, Radu Bogdan Rusu<[hidden email]<mailto:[hidden email]>>  wrote:
>>>      [CC-ingROS-kinect@, as it's aROSrelated issue (too).]
>>>      Ivan, the best way is to get all of you onboard as developers forros-pkg-git, and centralize development for the
>>>      Kinect sensor inROS.
>>>      The plan is to merge all the libfreenect modifications upstream (we added support yesterday for multiple cameras -
>>>      we got 6 here :) - and motor/accelerometer as far as I know), and have the kinect repo inros-pkg-git be our main
>>>      tree for theROSwrappers, demos, etc.
>>>      Cheers,
>>>      Radu.
>>>      On 11/17/2010 11:52 AM, Ivan Dryanovski wrote:
>>>          Hey everyone,
>>>          Thanks for setting up the repo and the mailing list! What is the
>>>          current status ofros-pkg-git? We've made some changes additions to
>>>          our ccny kinect repo - we'd like to bring them intoros-pkg-git, and
>>>          discontinue our version.
>>>          Thanks,
>>>          Ivan Dryanovski
>>>          On Wed, Nov 17, 2010 at 6:02 AM, Mif<[hidden email]<mailto:[hidden email]>>    wrote:
>>>              Welcome to the party Willow!
>>>              I am working on putting some wheels to this amazing device, so
>>>              hopefully we will see some robots walking around with this device on!
>>>              On Nov 17, 11:48 am, Radu Bogdan Rusu<[hidden email]<mailto:[hidden email]>>    wrote:
>>>                  And here's a link toros-kinect@ (thanks Stephane!) for those interested in subscribing:
>>>                  Cheers,
>>>                  Radu.
>>>                  On 11/17/2010 02:43 AM, Radu Bogdan Rusu wrote:
>>>                      Hi all!
>>>                      We just got our Kinects at Willow Garage, so we're ready to join the party! As we plan to invest
>>>                      lots of resources to
>>>                      support the development of our 3D libraries and higher level applications with sensors such as
>>>                      Kinect, this is the
>>>                      perfect time to start contributing to your efforts, and centralize the development... Since we're
>>>                      looking for maximum
>>>                      harmony here... code re-usability... no wasted efforts, etc :)
>>>                      We would really like to thank all the pioneers of this effort! It's been amazing to see how fast the
>>>                      community moved in
>>>                      the last few days, and it's definitely exciting to see an avalanche of e-mails every hour or so with
>>>                      updates and
>>>                      improvements for the existing code bases.
>>>                      Some of our developers that useROS( have gathered together and joined forces
>>>                      (similar to how OpenKinect
>>>                      did) to provide a stable and reliable architecture for Kinect inROS. With that in mind, we created
>>>                      a neutral repository
>>>                      where we can easily iterate over the development of Kinect drivers and the integration with our PCL
>>>                      (Point Cloud Library
>>>                      - and OpenCV ( computer vision libraries. As
>>>                      always, we are fully
>>>                      committed to make _everything_ available as open source, under a BSD license (huray!).
>>>                      Many thanks to (alphabetically): Ivan Dryanovski, St phane Magnenat, William Morris, Alex Trevor for
>>>                      theirROS
>>>                      integration efforts, and to Oliver Kreylos and Hector Martin (to name a few...) for interesting
>>>                      discussions and for
>>>                      developing parts of the project!
>>>                      So please join our new mailing list [hidden email]<mailto:[hidden email]>  if
>>>                      you're interested in discussing or help developing
>>>                      with Kinect inROS. For general discussions about Kinect that are notROSrelated, we should use the
>>>                      OpenKinect mailing
>>>                      list/group. If you're interested in developing or working with PCL, please contact us at
>>>                      [hidden email]<mailto:[hidden email]>.
>>>                      Status:
>>>                      * repositories up at:
>>>                      <>  for faster iterations) and
>>>           <>  support for
>>>                      Kinect)
>>>                      * our libfreenect branch just got support for multiple Kinect cameras
>>>                      *ROSdrivers (nodes and nodelets -- for "no-de/serialization" (tm) consumers ;) publishing
>>>                      PointCloud and PointCloud2
>>>                      messages (among other things)
>>>                      * preliminary support for accelerometers (thanks to Stephane) and motors (thanks to Melonee) - more
>>>                      to come
>>>                      * lots of people working on calibration - more to come in the next few days
>>>                      * ...
>>>                      We will need to sync several wiki pages tomorrow and make sure that everyone is happy with the
>>>                      centralization, everyone
>>>                      interested has commit access, we didn't step on anyone's toes (hopefully!), etc :)
>>>                      Within the next few days, we'll offer complete integration and tutorials/demos for segmentation,
>>>                      filtering, object
>>>                      recognition, registration, etc using PCL, so stay tuned! ;) Exciting times.
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