Feature | Registration Nodelet

[ruffsl]

I have a bag file recording of raw depth and HD color from using the iai_kinect2_bridge, and I'd like to run back through it and generate registered images using calibration files from iai_kinect2_bridge. This was in part due to memory limitations with recording on the robot, and the desired flexibility of trying out different calibrations at during playback as mentioned before here: #183 (comment) .

Thus I have started on adding a Kinect2RegistrationNodelet that could subscribe to raw depth and HD color topics and publish registered images by building from the original Kinect2BridgeNodelet. Perhaps this could be backported into the Kinect2BridgeNodelet with a load_driver=false ros parameter, providing much the same functionality as the openni_launch ros package, but for now I'd just like to get to working implementation first. Below is a preliminary approach using a TimeSynchronizer, leveraging much of the same pipeline and mutexes/threading. However I'm still learning C++, and could use some help in resolving a few build errors and technical implementation:

TODO:

• fix build errors with initializing TimeSynchronizer
• fix build errors with sensor_msgs::Image to libfreenect2::Frame conversion
• make subscribed source topics ros parameter
• permit lower resolution raw image publication (not just rectified)
• add IR-image as an optional subscribed topic

[tlind]

Did you ever finish working on this and get it running?

[ruffsl]

I have not yet had time, and no longer have a device. You can look a diff compare between kinect2_bridge/src/kinect2_registration.cpp and kinect2_bridge/src/kinect2_bridge.cpp to get a feel for what I was doing. The main thing blocking me was finding a good way to initializing TimeSynchronizer and conversion between sensor_msgs::Image to libfreenect2::Frame class objects.

[bbferka]

@ruffsl Thanks for your contribution. As far as I see this PR is not complete. Closing it. Let me know if you want to continue developing this and I'll reopen.