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blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.
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Does this package work with cameras other than Kinects? #31

Closed QuantuMope closed 3 years ago

QuantuMope commented 3 years ago

Can this package work so long as we specify a depth topic?

JimmyDaSilva commented 3 years ago

I have only tried with Kinect and Kinect2 so far. But it should work with any sensor. The only things it should require are the depth image and camera_info topic.

QuantuMope commented 3 years ago

I've been trying to get this package to work with a realsense camera but the package crashes immediately. I didn't specify the camera_info topic though. I don't see it in the list of rosparams or in the sample launch file. How is it specified?

JimmyDaSilva commented 3 years ago

Here: https://github.com/blodow/realtime_urdf_filter/blob/5ab2992977855d2e7b430bd279ef3c3ff256a136/src/urdf_filter.cpp#L243

It uses the imageTransport special subscriber to get the image and the camera info as well

christian-rauch commented 3 years ago

Yes, this package is sensor agnostic. You just have to provide the camera intrinsic, the transformations and the depth data.

QuantuMope commented 3 years ago

Okay, in that case, it seems like this package is crashing for another reason. Will close this issue since it is unrelated. Thanks for the help.

blodow commented 3 years ago

@QuantuMope maybe you could open an issue with more info regarding the crash.

QuantuMope commented 3 years ago

I currently do not need the package but will do so next time I come across the issues.