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@garaemon
garaemon / nil_link_mesh.dae
Created April 24, 2014 11:26
collada marker's material is not used in rviz
@garaemon
garaemon / gist:11311514
Last active November 1, 2015 04:39
openni topic data usage
Topic Bytes per pixel VGA k bytes per message m bytes per sec (30fps,VGA) m bits per sec (30fps, VGA) Notes
camera/depth/image_raw 2 600 17 140 uint16 in mm
camera/rgb/image_raw 1 300 8 70 uint8 Bayer format
camera/depth/points 16 4800 140 1125 3*sizeof(float) + 4 bytes padding
camera/depth_registered/points 32 9600 281 2250 Additional 16 bytes (mostly padding) for RGB
<launch>
<node pkg="nodelet" type="nodelet" name="manager"
args="manager" />
<node pkg="topic_tools" type="relay" name="raw_concat_relay"
args="/camera/depth_registered/points /normal_concat/input" />
<node pkg="nodelet" type="nodelet" name="normal_estimate"
args="load pcl/NormalEstimation manager"
clear_params="true">
<remap from="~input" to="/camera/depth_registered/points" />
<remap from="~output" to="/normal_concat/input" />
@garaemon
garaemon / freenect2.md
Last active August 29, 2015 14:01
libfreenect2

14/05/27

freenect2

$ lsusb -t
2-5:1.0: No such file or directory
2-5:1.1: No such file or directory
/:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M
@garaemon
garaemon / rostopic_percol.sh
Created June 18, 2014 04:47
search rostopic by percol
function search-rostopic-by-percol(){
LBUFFER=$LBUFFER$(rostopic list | percol)
zle -R -c
}
zle -N search-rostopic-by-percol
bindkey '^[r' search-rostopic-by-percol
#!/usr/bin/env python
import rospy
from std_msgs.msg import String, Empty
from geometry_msgs.msg import PoseStamped
rospy.init_node("moveit_visualization_sample")
# publisher to change the arm group
#!/usr/bin/env python
import math
import rospy
from jsk_pcl_ros.msg import ColorHistogram
rospy.init_node("bhatta_test")
prev_hist = None
def cb(msg):
#!/usr/bin/env python
# cylinder test
import math
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.animation as animation
from matplotlib.patches import Circle, PathPatch
import random
#!/usr/bin/env python
# cylinder test
import math
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.animation as animation
from matplotlib.patches import Circle, PathPatch
import random
@garaemon
garaemon / ROS_w_latest_pcl.md
Created July 23, 2014 09:31
PCLを最新でROS hydroで使う

hydroで最新のPCLを使う

  • PClはboost 1.48以上じゃないとだめ、hydroのaptは1.46を使っている。
  • つまり、hydroをソースからコンパイルすればいけるはず。
  • hydro関連を全て削除、boost-1.48をインストールする。
sudo aptitude install libboost1.48-dev
  • pclのコンパイル
git clone [email protected]:PointCloudLibrary/pcl