Dynamically adjustable color filter package

Overview

Basic Kinect-v1 (for the Xbox 360) node, with IPC support, based on libfreenect. For now, it only supports a single Kinect device. (If multiple devices present, the first one listed by the freenect_num_devices will be selected). Use the

Published topics

• ~image_raw - RGB image(rgb8) (sensor_msgs/Image)
• ~camera_info - RGB camera_info (sensor_msgs/CameraInfo)
• ~depth/image_raw - Depth camera image(mono16) (sensor_msgs/Image)
• ~depth/camera_info - Depth camera_info (sensor_msgs/CameraInfo)
• ~filtered_rgb - RGB stream after filtering by color filter (sensor_msgs/Image)
• ~filtered_circles - RGB stream after shape filtering (sensor_msgs/Image)

Instalation

1. Install libfreenect

The package was tested using a manual build from the libfreenect github because the Kinect used, had a firmware version that requires specific build flags.

2. Copy the repo

Copy the repo to your workspace source folder.

cd ~/ws/src
git clone https://github.com/fadlio/kinect_ros2RGB

3. Install any missing ROS packages

Use rosdep from the top directory of your workspace to install any missing ROS related dependency.

cd ~/ws
rosdep install --from-paths src --ignore-src -r -y

4. Build your workspace

From the top directory of your workspace, use colcon to build your packages.

cd ~/ws
colcon build

Usage

Use the following bash commands and the launch file to execute this package

1. Open 2 terminals and source the setup file in each terminal

source install/setup.bash

2. In one terminal execute the launch file showfilteredimage.launch.py In the other terminal execute the color filter controller node

ros2 run kinect_ros2 kinect_color_filter_controller_node

ros2 run kinect_ros2 kinect_color_filter_controller_node

3. Specify the filter required to be used using the keys as comma seperated values. Eg: r1,r2,bl, Note: Do not have spaces in the key names, spaces between the item and the comma.