基于ROS indigo版本下kinect图像显示

安装相关库 及kinect驱动文件

$ sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*$ rospack profile  

新建Terminal

$ roscore

新建Terminal,运行Kinect驱动文件

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$ roslaunch freenect_launch freenect.launch

新建Terminal,显示RGB图像

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$ rosrun image_view image_view image:=/camera/rgb/image_color

新建Terminal，显示Depth图像

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$ rosrun image_view disparity_view image:=/camera/depth/disparity

新建Terminal，运行RVIZ

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$ rosrun rviz rviz

RVIZ 配置

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1.如图添加 image，按图修改属性显示RGB

2如图添加 image，按图修改属性显示Depth图像

3.修改Global Options->Fixed Fram为 camera link, Turning the background color to light gray  (128,128,128) can help with viewing.

4.添加PointCloud2类型，PointCloud2属性按图示修改，显示点云文件。Set its topic to /camera/depth/points.

5. This is theunregistered point cloud in the frame of the depth (IR) camera. It is not matched with the RGB camera images. We'll get to color point clouds below. For now, setColor Transformer toAxisColor to colormap the points by distance.

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