[ros-users] New driver for DepthSense DS325 3D Camera

Jorge Santos Simón jsantossimon at gmail.com
Tue May 5 15:07:48 UTC 2015

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.


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

2015-05-04 16:21 GMT+02:00 Walter "Myzhar" Lucetti via ros-users <
ros-users at 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 at 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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> --
> *Walter "Myzhar" Lucetti*
> email myzhar at robot-home.it
> web: *www.robot-home.it <http://www.robot-home.it/> - www.opencv.it
> <http://www.opencv.it/>*
> project:  http://myzharbot.robot-home.it
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