kinect v2をROS(KINETIC)で動かしてみる - 空飛ぶロボットのつくりかた

#!/usr/bin/env python

import roslib
import rospy
from sensor_msgs.msg import PointCloud2
import numpy
import pylab
import time
import sensor_msgs.point_cloud2 as pc2

def callback(data):
    resolution = (data.height, data.width)

    # 3D position for each pixel
    img = numpy.fromstring(data.data, numpy.float32)

    cloud_points = []
    for p in pc2.read_points(data, field_names = ("x", "y", "z"), skip_nans=False):
        cloud_points.append(p[2])

    z_points = numpy.array(cloud_points, dtype=numpy.float32)
    z = z_points.reshape(resolution)
　　print z[data.height/2 , data.width/2]

def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber('/kinect2/sd/points',
                     PointCloud2, callback)
    rospy.spin()

if __name__ == "__main__":
    listener()

rvizでの表示、TFの出し方

roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
FixedFrame -> kinect2_link へ変更

roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true fps_limit:=10

Does the kinect2_bridge publish the actual RGBXYZ point cloud? · Issue #153 · code-iai/iai_kinect2 · GitHub

TFについて

ROStfのお勉強 - 空飛ぶロボットのつくりかた

SD, HD, QHD

画質の違い【SD/HD/フルHD/4K】 - 動画配信サービスナビ

QHDとは - IT用語辞典

参考

How to install libopenni2-dev on Ubuntu 16.04 (Xenial Xerus)

Errors occured when doing cmake in ubuntu - Ask Ubuntu

KINECT WITH ROS

ubuntu16.04でkinect_v2を使うための環境構築 - potblog