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Clone wiki3D Reconstruction / Run Instruction for Kinect
Run with bagfiles
Disable load_driver option in openni:
- go to the openni launch file:
$ roscd openni_launch/launch/
$ sudo vim openni.launch
- change
<arg name="load_driver" default="true" />
to<arg name="load_driver" default="false" />
Remapping topic: (rosbag doesn't seem to publish the rectified image)
$ roscd rgbdslam/launch/
$ vim openni+rgbdslam.launch
- change
<param name="config/topic_image_depth" value="/camera/depth_registered/sw_registered/image_rect_raw"/>
to<param name="config/topic_image_depth" value="/camera/depth_registered/image_raw"/>
Launch openni+rgbdslam:
$ roslaunch rgbdslam openni+rgbdslam.launch
Play the bagfile:
$ rosbag play [bag_file_name_here]
Run with Kinect
Launch openni+rgbdslam:
$ roslaunch rgbdslam qvga-kinect+rgbdslam.launch
Updated