Kinfu

Use kinfu (kinect fusion) for model generation and SLAM.

Note

Kinfu is available only with CUDA enabled PCL.

Please see here for more information.

Subscribing Topics

• ~input/camera_info (sensor_msgs/CameraInfo)

  Intrinsic camera parameter of depth image

• ~input/depth (sensor_msgs/Image)

  Input depth image.

• ~input/color (sensor_msgs/Image)

  RGB color image (subsribed if ~integrate_color is true).

Publishing Topics

• ~output (geometry_msgs/PoseStamped)

  Pose of camera

• ~output/cloud (sensor_msgs/PointCloud2)

  Generated point cloud of kinfu model.

• ~output/depth (sensor_msgs/Image)

  Generated depth of kinfu model in current camera view.

• ~output/rendered_image (sensor_msgs/Image)

  Rendered image of kinfu model in current camera view.

• ~output/status (jsk_recognition_msgs/TrackerStatus)

  Status of icp tracking. Succeeding or lost.

Advertising Services

• ~reset (std_srvs/Empty)

  Reset tracking and mapping of kinfu.

• ~save_mesh (std_srvs/Empty)

  Convert tsdf to mesh using marching cubes algorithm, saved mesh.obj under ~save_dir.

Parameters

• ~queue_size (Int, default: 10)

  Size of message queue for synchronization.

• ~auto_reset (Boolean, default true)

  Flag to auto reset if ICP tracking is lost.

• ~integrate_color (Boolean, default: false)

  Flag to integrate color for tracking and mapping. If true, ~input/color is also Subscribed.

• ~slam (Boolean, default: false)

  Flag to publishing tf map relative to ~fixed_frame_id.

• ~fixed_frame_id (String, default: odom_init)

  Used when ~slam is true.

• ~save_dir (String, default: .)

  Save directory for mesh and texture images.

• ~n_textures (Int, default: -1)

  The number of textures to be used to create texture mesh with below logics:

  • -1: all textures are used and texture mesh is saved

  • 0: no textures are used and polygon mesh is saved

  • >0: n_textures_ textures are used and texture mesh is saved

• ~volume_size (Float, default: 3.0)

  TSDF Volume size for Kinect Fusion.

Sample

Without SLAM

roslaunch jsk_pcl_ros sample_kinfu.launch
rosservice call /kinfu/save_mesh  # saves mesh model below
rosservice call /save_mesh_server/request  # saves mesh with context (bbox)

With SLAM

gdown https://drive.google.com/uc?id=0B9P1L--7Wd2vMDA4NW9YSEpoczQ -O $(rospack find jsk_pcl_ros)/sample/data/hrp2_apc_2016-07-27-22-08-02.bag
export ROBOT=HRP2JSKNTS
# you need to resolve dependencies on private projects here to see robot model on rviz.
roslaunch jsk_pcl_ros sample_kinfu_hrp2_apc.launch