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 |
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<?xml version="1.0"?> | |
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> | |
<asset> | |
<contributor> | |
<author>Someone</author> | |
<authoring_tool>Assimp Collada Exporter</authoring_tool> | |
</contributor> | |
<created>2000-01-01T23:59:59</created> | |
<modified>2000-01-01T23:59:59</modified> | |
<unit name="meter" meter="1.0" /> |
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<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" /> |
- https://github.com/OpenKinect/libfreenect2 を使うとkinect2が読めるらしい
- BRIXでテスト
$ 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
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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 |
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#!/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 |
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#!/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): |
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#!/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 |
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#!/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 |
- 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