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how to make openni_camera package to output 320x240 rgb and depth images directly

asked 2015-09-07 21:49:26 -0600

lligen gravatar image

updated 2015-09-07 21:55:59 -0600

hi, in openni_camera, i got to know that it's ROS API has parameters like:

~image_mode (int, default: 2)

Image output mode for the color/grayscale image Possible values are: SXGA_15Hz (1): 1280x1024@15Hz, VGA_30Hz (2): 640x480@30Hz, VGA_25Hz (3): 640x480@25Hz, QVGA_25Hz (4): 320x240@25Hz, QVGA_30Hz (5): 320x240@30Hz, QVGA_60Hz (6): 320x240@60Hz, QQVGA_25Hz (7): 160x120@25Hz, QQVGA_30Hz (8): 160x120@30Hz, QQVGA_60Hz (9): 160x120@60Hz ~image_mode (int, default: 2)

~depth_mode (int, default: 2)

depth output mode Possible values are: SXGA_15Hz (1): 1280x1024@15Hz, VGA_30Hz (2): 640x480@30Hz, VGA_25Hz (3): 640x480@25Hz, QVGA_25Hz (4): 320x240@25Hz, QVGA_30Hz (5): 320x240@30Hz, QVGA_60Hz (6): 320x240@60Hz, QQVGA_25Hz (7): 160x120@25Hz, QQVGA_30Hz (8): 160x120@30Hz, QQVGA_60Hz (9): 160x120@60Hz

Now I want the kinect to output 320x240 rgb and depth images directly, i tried to set this para in launch file but failed , How to set this parameters?

Thank you vary much~~

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answered 2015-09-08 02:32:39 -0600

Humpelstilzchen gravatar image

These are dynparam, not rosparam, so in launch file try something like

<node pkg="dynamic_reconfigure" type="dynparam" name="reconfig" output="screen" args="set /camera/driver depth_mode 11" />

for depth_mode, check the dynamic_reconfigure for more, e.g. list of available resolutions.

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thanks for your help~

lligen gravatar imagelligen ( 2015-09-09 07:50:52 -0600 )edit

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Asked: 2015-09-07 21:49:26 -0600

Seen: 89 times

Last updated: Sep 08 '15