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  1. <launch>
  2.   <arg name="image_left" default="/kinfu/output/rendered_image" />
  3.   <arg name="image_right" default="/kinfu/output/rendered_image" />
  4.  
  5.   <arg name="CAMERA_INFO" default="/kinect_head/depth_registered/camera_info" />
  6.   <arg name="IMAGE_DEPTH" default="/kinect_head/depth_registered/image_rect" />
  7.   <arg name="IMAGE_COLOR" default="/kinect_head/rgb/image_rect_color" />
  8.   <arg name="DECOMP_CAMERA_INFO" default="/kinect_head_decompressed/depth_registered/camera_info" />
  9.   <arg name="DECOMP_RGB_CAMERA_INFO" default="/kinect_head_decompressed/rgb/camera_info" />
  10.   <arg name="DECOMP_IMAGE_DEPTH" default="/kinect_head_decompressed/depth_registered/image_rect" />
  11.   <arg name="DECOMP_IMAGE_COLOR" default="/kinect_head_decompressed/rgb/image_rect_color" />
  12.   <arg name="DECOMP_POINTS" default="/kinect_head_decompressed/depth_registered/points" />
  13.  
  14.   <group ns="kinect_head_decompressed">
  15.     <node name="camera_info_relay" pkg="topic_tools" type="relay"
  16.           args="$(arg CAMERA_INFO) $(arg DECOMP_CAMERA_INFO)" />
  17.     <node name="rgb_camera_info_relay" pkg="topic_tools" type="relay"
  18.           args="$(arg CAMERA_INFO) $(arg DECOMP_RGB_CAMERA_INFO)" />
  19.     <node name="depth_image_transport" pkg="image_transport" type="republish"
  20.           args="compressedDepth in:=$(arg IMAGE_DEPTH) raw out:=$(arg DECOMP_IMAGE_DEPTH)" />
  21.     <node name="rgb_image_transport" pkg="image_transport" type="republish"
  22.           args="compressed in:=$(arg IMAGE_COLOR) raw out:=$(arg DECOMP_IMAGE_COLOR)" />
  23.     <node name="point_cloud_xyzrgb" pkg="nodelet" type="nodelet"
  24.           args="standalone depth_image_proc/point_cloud_xyzrgb" output="screen" />
  25.   </group>
  26.  
  27.   <node name="kinfu"
  28.         pkg="nodelet" type="nodelet"
  29.         args="standalone jsk_pcl/Kinfu"
  30.         output="screen">
  31.     <remap from="~input/camera_info" to="$(arg DECOMP_CAMERA_INFO)" />
  32.     <remap from="~input/depth" to="$(arg DECOMP_IMAGE_DEPTH)" />
  33.     <remap from="~input/color" to="$(arg DECOMP_IMAGE_COLOR)" />
  34.     <rosparam subst_value="true">
  35.       auto_reset: true
  36.       integrate_color: true
  37.       save_dir: $(optenv HOME)/.ros/kinfu
  38.       n_textures: -1
  39.     </rosparam>
  40.   </node>
  41. </launch>
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