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Pi Robot
02-13-2011, 06:38 PM
I started poking around Diamondback Release Candidate 1 and discovered this gem: a new "Axis" colorization mode for Point Clouds that resembles a disparity colorization. Here are three images from the new RViz using my Kinect. The last image shows the new view:

http://www.pirobot.org/images/ROS/kinect/kinect-rviz-diamondback-a.png


http://www.pirobot.org/images/ROS/kinect/kinect-rviz-diamondback-b.png

http://www.pirobot.org/images/ROS/kinect/kinect-rviz-diamondback-c.png

--patrick

Peter_heim
02-14-2011, 06:14 AM
Hi Patrick
I got a kinect on the weekend i loaded diamondback rc1 and after much fun it works but i find it very slow
I'm running the roscore on the robot and rviz on my desktop is there a way to speed it up?

peter

ps I'm getting this
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
when i launch
roslaunch kinect_with_tf.launch

lnxfergy
02-14-2011, 08:47 AM
Hi Patrick
I got a kinect on the weekend i loaded diamondback rc1 and after much fun it works but i find it very slow
I'm running the roscore on the robot and rviz on my desktop is there a way to speed it up?

peter

ps I'm getting this
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
[Stream 70] Expected 1748 data bytes, but got 1908. Dropping...
when i launch
roslaunch kinect_with_tf.launch

This looks like the older "kinect" stack -- I'd suggest installing the newer "ni" stack based on the official drivers from Primesense. It's quite a bit more robust (and calibrated!).

Also, the XYZRGB point cloud at VGA resolution is something on the order of ~200MB/s of data -- way more than your network can probably sustain, so after starting the driver but before opening RVIZ, I would open dynamic reconfigure (rosrun dynamic_reconfigure reconfigure_gui) select openni_camera and select either QVGA or QQVGA for the cloud resolution.

-Fergs

Pi Robot
02-14-2011, 10:02 AM
+1 what Fergs said :-) You can find the instructions for installing the ni stack at:

http://www.ros.org/wiki/ni

But I *think* you can skip Step 1 if you are using Diamondback. And I think you also need to change Step 2 to:


rosinstall ~/ni /opt/ros/diamondback 'http://www.ros.org/wiki/ni?action=AttachFile&do=get&target=ni.rosinstall'
(substituting diamondback for unstable).

I also didn't have to do Step 2 of the USB setup instructions.

Finally, as Fergs said, using QVGA via dynamic_reconfigure for the point cloud really speeds things up in RViz and to my eye looks cooler than VGA anyway. (The images shown here were done with QVGA). Also, selecting "Points" instead of "Billboard Spheres" for the Point Cloud "Style" in RViz can make a big difference in performance.

--patrick

P.S. You can change the dynamic_reconfigure settings even after you have RViz up--there'll be a short delay when you change a setting, then RViz should continue with the new value(s).

Peter_heim
02-15-2011, 06:35 AM
Thanks guys
Its working a lot quicker now but there is still a big delay using QQVGA i can't run point clouds in rviz and browse the file system on the robot at the same time i think i need a new router

peter