• test/camera_for_test.launch
  • • manager [default: camera_nodelet_manager]
• launch/kinect_frames.launch
  • Default frames for Kinect/PSDK5 devices Places depth and RGB cameras in the same plane with 2.5cm baseline. Calibration may improve results, but these defaults are reasonably accurate.
  • • camera [default: camera]
    • tf_prefix [default: ]
• launch/includes/disparity_registered.launch.xml
  • • manager
    • depth_registered [default: depth_registered]
    • projector [default: projector]
    • respawn [default: false]
    • sw_registered_processing [default: true]
    • hw_registered_processing [default: true]
• launch/includes/depth.launch.xml
  • Load processing nodelets for the depth camera
  • • manager
    • points_xyz [default: true]
    • rectify [default: true]
    • respawn [default: false]
    • depth
• launch/includes/depth_registered.launch.xml
  • Register a depth camera with an RGB camera
  • • manager
    • respawn [default: false]
    • sw_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • rgb [default: rgb]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • suffix [default: $(arg depth)_$(arg rgb)]
    • depth_registered_filtered [default: depth_registered]
• launch/includes/processing.launch.xml
  • Load full set of processing nodelets for a RGBD device
  • • manager
    • respawn [default: false]
    • rgb_processing [default: true]
    • debayer_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • sw_registered_processing [default: true]
    • hw_registered_processing [default: true]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth [default: depth]
    • depth_registered [default: depth_registered]
    • depth_registered_filtered [default: depth_registered]
    • projector [default: projector]
• launch/includes/manager.launch.xml
  • Start nodelet manager
  • • name
    • debug [default: false]
    • num_worker_threads
• launch/includes/disparity.launch.xml
  • • manager
    • depth [default: depth]
    • projector [default: projector]
    • respawn [default: false]
• launch/includes/rgb.launch.xml
  • Load processing nodelets for the RGB camera
  • • manager
    • respawn [default: false]
    • rgb
    • debayer_processing [default: true]
• launch/includes/ir.launch.xml
  • Load processing nodelets for the IR camera
  • • manager
    • respawn [default: false]
    • ir

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