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Visualizing Kinect Output without a TurtleBot

asked 2012-05-02 12:08:11 -0500

updated 2016-10-24 08:59:16 -0500

ngrennan gravatar image


The "Visualizing TurtleBot Kinect Data" tutorial seems very tided to the TurtleBot - is there a way to visualize the Kinect Camera or PointCloud in rviz without the TurtleBot?

Best Regards,

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You need some type of URDF so that RViz knows where the Kinect is so it can draw the point clouds. Then you would do what @Ryan says.

Thomas D gravatar image Thomas D  ( 2012-05-03 04:13:21 -0500 )edit

"roslaunch openni_launch kinect_frames.launch" takes care of setting up some static transforms to let rviz draw the clouds.

Ryan gravatar image Ryan  ( 2012-05-03 04:27:39 -0500 )edit

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answered 2012-05-02 13:53:36 -0500

Ryan gravatar image

updated 2012-05-02 13:58:07 -0500

In three separate terminals, run:

roslaunch openni_launch kinect_frames.launch
roslaunch openni_launch openni.launch

Then, launch rviz with:

rosrun rviz rviz

Once that's up, select frames (any frames) from the dropdown menus beside "fixed frame" and "target frame". Then, add a PointCloud2 display and select "/camera/depth/points" as its topic. That should display the 3D cloud. You'll probably also want to tweak the display options to make it easier to see (changing from an "intensity" colour transform to an "axis" colour transform, for instance).

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answered 2012-05-03 07:23:56 -0500

karthik gravatar image

Hi, If you have installed openni_camera package, then you may use

roslaunch openni_camera openni_node.launch

Followed by

rosrun rviz rviz

to visualize the cloud.

Thanks, Karthik

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Asked: 2012-05-02 12:08:11 -0500

Seen: 1,080 times

Last updated: May 03 '12