Smoothly watching through TurtleBot Kinect camera

Question

It seems that the visualization tools such as rviz take a lot of computational resources. Actually I just want to watch through the Kinect camera (see what TurtleBot sees) but I don't need other fancy 3d simulation stuff. Is there any simple, high performance package that can do this? Thank you very much.

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Originally posted by Chik on ROS Answers with karma: 229 on 2013-03-04

Post score: 0

Answer 1

If you only want to see the camera image, use image_view, e.g.:

rosrun image_view image_view image:=/camera/rgb/image

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Originally posted by dgossow with karma: 1444 on 2013-03-05

This answer was ACCEPTED on the original site

Post score: 3

Answer 2

If you need a simple 3D viewer of the pointcloud produced by the kinect, I'd go with the PCL. They provide a lightweight viewer as well as a full-featured one:

• simple CloudViewer: http://www.pointclouds.org/documentation/tutorials/cloud_viewer.php
• PCL Visualizer: http://pointclouds.org/documentation/tutorials/pcl_visualizer.php

Just register a callback that accesses the XYZRGB-Pointcloud of the kinect and, inside the callback, provide the pointcloud to the viewer.

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Originally posted by Philip with karma: 990 on 2013-03-04

This answer was NOT ACCEPTED on the original site

Post score: 1