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Kinect2 Viewer

Maintainer

Note: Please use the GitHub issues for questions and problems regarding the iai_kinect2 package and its components. Do not write emails.

Description

This is a simple viewer for the combined color an depth image provided by Kinect like depth sensors.

It just listens to two ROS topics and displays a the color with the overlayed colored depth image or a registered point cloud.

Dependencies

  • ROS Hydro/Indigo
  • OpenCV
  • PCL

for the ROS packages look at the package.xml

Usage

kinect2_viewer [options]
  name: 'any string' equals to the kinect2_bridge topic base name
  mode: 'qhd', 'hd', 'sd' or 'ir'
  visualization: 'image', 'cloud' or 'both'
  options:
    'compressed' use compressed instead of raw topics
    'approx' use approximate time synchronization

Example: rosrun kinect2_viewer kinect2_viewer sd cloud

Key bindings

Windows:

  • ESC, q: Quit
  • SPACE, s: Save the current image, cloud in the current directory

Terminal:

  • CRTL+c: Quit