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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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Could I use this package for other rgb-d camera，like Realsense d435？Where do I need to change the code? #45

Open struggler-lu opened 1 year ago

struggler-lu commented 1 year ago

Could I use this package for other rgb-d camera，like Realsense d435？Where do I need to change the code?

kongkong9 commented 6 months ago

Could I use this package for other rgb-d camera，like Realsense d435？Where do I need to change the code?

Have you tried it yet？

blodow commented 6 months ago

This filter is relatively generic, it takes as much info as possible from the publishers, esp. the depth map and camera info. If the URDF model can be loaded (the loader has some issues with some meshes, I think e.g. non-triangular faces, and some binary files), and the depth info is equivalent in structure to kinect/primesense/asus xtion devices, it should work.

If not, I do appreciate PRs :D