Hi Walter, is a pity we failed to collaborate to make a better common driver. Probably we should have announced better the  'softkinetic' package.

Still, tell me if you need any assistance on including features from the 'softkinetic' package into your own driver. Probably things like the URDF model are a good plus. Also the pc filters, as the camera is very noisy, but they should go to a separated nodelet to keep the code clean and not incur on pcl dependency [1].

Ideally we should converge into a single driver with the best of both, though I'm very busy now to invest much time on it.

Jorge

[1] https://github.com/ipa320/softkinetic/issues/35

2015-05-04 16:21 GMT+02:00 Walter "Myzhar" Lucetti via ros-users <ros-users@lists.ros.org>:
Hi Gijs,

you just wrote about the fact that it does not use PCL, neither OpenCV. So you can choose to use your own algorithm without being obliged to install 3rd parties libraries.

Secondary, I searched a lot for a driver for ROS and I have not found the one you cited, so I started writing my own.

Last of all, I'm going to use CUDA if available. As far as I know there are no drivers for Pointcloud2 topics that uses GPU to perform heaviest elaborations such as RGB-3D data registration.

Walter

2015-05-03 19:47 GMT+02:00 G.A. vd. Hoorn - 3ME via ros-users <ros-users@lists.ros.org>:
On 28/04/15 23:15, Walter "Myzhar" Lucetti via ros-users wrote:
Hi all,

if someone is searching for a driver for the DepthSense DS325 RGB-D
time-to-flight camera, I'm glad to say that the first working version of it
is available on Github:

https://github.com/Myzhar/ros_depthsense_camera

At this stage the driver can correctly publish RGB videostream, Simple XYZ
Pointcloud and RGB XYZ Pointcloud.

One of the strenght of my driver is the fact that it does not use neither
OpenCV nor PCL libraries.
It publishes only  sensor_msg::pointcloud2 and sensor_msg::Image messages.

The next step will be the porting on CUDA of the heaviest function like the
RGB to XYZ mapping and the use of the builtin accelerometer to compensate
robot asset.
I will also write the code to simulate a 2D laser scanner to provide full
information... if requested.

All this with an eye on the use of 100% of the potential of NVidia Jetson
TK1...

Any comment or debug will be really appreciated

 Walter; could you comment on what the greatest strengths of your driver are when compared with the 'softkinetic' package [1]? That package seems to target the same hardware. It does use PCL though.


Gijs

[1] https://github.com/ipa320/softkinetic

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