Kinect v2 iai_kinect2功能包使用解读（笔记3）
连接：https://github.com/OpenKinect/libfreenect2
https://github.com/code-iai/iai_kinect2/tree/master/kinect2_bridge
kinect2_bridge
This is a bridge between libfreenect2 and ROS.
1 特色
在非高端硬件上每秒传输30帧
通过千兆以太网每秒传输多达30帧
支持压缩图像传输
利用多个内核，并使用基于OpenCL的深度注册特殊实现
2 首先
这里最好参照之前的步骤，将内参标定的4个yaml文件放到以自己的序列号命名的文件夹下。
Point clouds are only published when the launch file is used. Run roslaunch kinect2_bridge kinect2_bridge.launch
Images from the same frame have the same timestamp. Using the message_filters::sync_policies::ExactTime policy is recommended
3 相关话题
高清：The images in this topics have a FullHD resolution (1920x1080).
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
Quater HD Topics
The images in this topics have a quarter FullHD resolution (960x540).
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
IR/Depth Topics
This are the raw IR and depth images from the sensor (512x424).
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
执行roslaunch后面可以跟的参数配置：
后面可以根据自己需要对相应参数进行更改。
roslaunch kinect2_bridge kinect2_bridge.launch [options:=value]
base_name:=
default: kinect2
info: set base name for all topics
sensor:=
default:
info: serial of the sensor to use
fps_limit:=
default: -1.0
info: limit the frames per second
calib_path:=
default: /home/wiedemeyer/work/src/iai_kinect2/kinect2_bridge/data/
info: path to the calibration files
use_png:=
default: false
info: Use PNG compression instead of TIFF
jpeg_quality:=
default: 90
info: JPEG quality level from 0 to 100
png_level:=
default: 1
info: PNG compression level from 0 to 9
depth_method:=
default: cuda
info: Use specific depth processing: default, cpu, opengl, opencl, cuda, clkde, cudakde
depth_device:=
default: -1
info: openCL device to use for depth processing
reg_method:=
default: opencl
info: Use specific depth registration: default, cpu, opencl
reg_device:=
default: -1
info: openCL device to use for depth registration
max_depth:=
default: 12.0
info: max depth value
min_depth:=
default: 0.1
info: min depth value
queue_size:=
default: 2
info: queue size of publisher
bilateral_filter:=
default: true
info: enable bilateral filtering of depth images
edge_aware_filter:=
default: true
info: enable edge aware filtering of depth images
publish_tf:=
default: false
info: publish static tf transforms for camera
base_name_tf:=
default: as base_name
info: base name for the tf frames
worker_threads:=
default: 4
info: number of threads used for processing the images
Kinect2 Viewer
用于查看由Kinect在ros中的图像。
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
例如：
rosrun kinect2_viewer kinect2_viewer sd cloud
rosrun kinect2_viewer kinect2_viewer hd image
rosrun kinect2_viewer kinect2_viewer hd cloud
rosrun kinect2_viewer kinect2_viewer hd both