Kinect V1 vs Kinect V2 plugins in Gazebo

asked 2018-05-01 13:56:41 -0500

aadityacr7 gravatar image

Hey!

I am Aaditya Saraiya and as a starting point to my GSoC 2018 project, I wish to simulate a Kinect sensor in Gazebo. I followed the Gazebo tutorial to simulate a Kinect sensor which uses the OpenNI driver.

As a follow up to that, I wanted to ask if there is any fundamental difference between a Gazebo Plugin for a Kinect V1 and Kinect V2 sensor. I read a ROS Answers post which states that Gazebo treats Kinect V1 and Kinect V2 as similar RGB-D devices. The code below shows the camera plugin for Kinect V1 which has been taken from the Gazebo tutorial. How will the plugin change in order to simulate a Kinect V2 sensor? Is the difference only in the distortion coefficients and the .so file used?

Thanks in advance!

     <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
      <baseline>0.2</baseline>
      <alwaysOn>true</alwaysOn>
      <!-- Keep this zero, update_rate in the parent <sensor> tag
        will control the frame rate. -->
      <updateRate>0.0</updateRate>
      <cameraName>camera_ir</cameraName>
      <imageTopicName>/camera/depth/image_raw</imageTopicName>
      <cameraInfoTopicName>/camera/depth/camera_info</cameraInfoTopicName>
      <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
      <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
      <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
      <frameName>camera_link</frameName>
      <pointCloudCutoff>0.05</pointCloudCutoff>
      <distortionK1>0</distortionK1>
      <distortionK2>0</distortionK2>
      <distortionK3>0</distortionK3>
      <distortionT1>0</distortionT1>
      <distortionT2>0</distortionT2>
      <CxPrime>0</CxPrime>
      <Cx>0</Cx>
      <Cy>0</Cy>
      <focalLength>0</focalLength>
      <hackBaseline>0</hackBaseline>
    </plugin>
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