这个存储库包含一个用于交互式手势相机(softkinetic)的ROS驱动程序包_C++_CMake_下载.zip

softkinetic_camera =================================== General description --------------------- This package implements a node that runs an interactive gesture camera (softkinetic) in ROS To use this package in ROS, the DepthSenseSDK for linux needs to be downloaded. The download can be found here: http://www.softkinetic.com/fr-be/support/download.aspx?EntryId=517 To download, you will need to create a free account. #### Parameters **camera_link** *(string, default: "/softkinetic_link")* The frame ID of the camera. **confidence_threshold** *(int, default: 150)* Confidence threshold for DepthNode configuration. Sensor noise is filtered by increasing the threshold. Threshold needs to be within [0, 32767]. #### Published Topics **depth/points** *(sensor_msgs::PointCloud2)* Publishes point clouds detected by the camera. **rgb_data** *(sensor_msgs::Image)* Publishes rgb-images in bgr8 encoding. ... Add a camera to your robot model -------------------------------- Here we explain how to import a softkinetic camera into your robot xacro file. We have only included a descriptor for the Creative Senz3D camera, but adapt it to any Softkinetic camera should be trivial. You just need to import the xacro file describing the camera macro: ``` <xacro:include filename="$(find softkinetic_camera)/urdf/senz3d.urdf.xacro"/> ``` And include it somewhere in your robot description file, e.g.: ``` <sensor_senz3d parent="base_link" name="senz3d_camera"> <origin xyz="0.05 0.0 0.3" rpy="0.0 0.0 0.0"/> </sensor_senz3d> ```