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Using rgbdslam with .oni files

asked 2012-06-13 17:56:57 -0500

Axel Furlan gravatar image

updated 2016-10-24 09:01:54 -0500

ngrennan gravatar image

Hello, I needed to use the rgbd slam package with .oni files. After some hours of searching, I couldn't find any real help for this. Finally I figured out how to do it and it turned out that it's pretty simple. In fact, it's enough to add the following line to openni_nodelet.cpp:

device_ = driver.createVirtualDevice("yourONIfile.oni",true/false,true/false);

in the OpenNINodelet::setupDevice method as an alternative to the existing getDeviceBy options.

Finally, rebuild the openni_camera package (do not forget to move ROS_NOBUILD to ROS_NOBUILD_BAK or to delete it).

Hope this can be helpful!


Axel Furlan

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answered 2012-11-29 20:55:14 -0500

FYI, I used your proposal to create a patch for openni_camera, by applying the patch you can use the openni_launch toolchain and let the openni_camera nodelet read from an oni file:

roslaunch openni_launch openni.launch device_id:=/path/to/your/file.oni

You can find the patch attached to this ticket:

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The patch link is not working. Can you provide a working link?

Latif Anjum gravatar image Latif Anjum  ( 2014-10-10 08:23:07 -0500 )edit

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Asked: 2012-06-13 17:56:57 -0500

Seen: 1,325 times

Last updated: Nov 29 '12