README.md

Registration Viewer

Maintainer

• Thiemo Wiedemeyer <[email protected]>, Institute for Artificial Intelligence, University of Bremen

Description

This is a simple viewer for the combined color an depth image provided by Kinect like depth sensors.

It just listens to two ROS topics and displays a the color with the overlayed colored depth image or a registered point cloud.

Dependencies

• ROS Hydro/Indigo
• OpenCV
• PCL

for the ROS packages look at the package.xml

Usage

viewer [options]
  name: 'any string' equals to the kinect2_bridge topic base name
  mode: 'sd', 'hd', or 'ir'
  visualization: 'image', 'cloud' or 'both'
  options:
    'raw' use raw instead of compressed topics
    'approx' use approximate time synchronization

Example: rosrun registration_viewer viewer kinect2 sd cloud

Key bindings

Windows:

• ESC, q: Quit
• SPACE, s: Save the current image, cloud in the current directory

Terminal:

• CRTL+c: Quit