[Fawkes Git] branch/fzwilling/depthcam: created (0.5.0-3081-g2f00cc9)

Frederik Zwilling zwilling at kbsg.rwth-aachen.de
Thu Feb 25 10:24:31 CET 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, fzwilling/depthcam has been created
        at  2f00cc914647b8dc9689ca44d2c52c23f4df4417 (commit)

http://git.fawkesrobotics.org/fawkes.git/fzwilling/depthcam

- *Log* ---------------------------------------------------------------
commit 2f00cc914647b8dc9689ca44d2c52c23f4df4417
Author:     Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
AuthorDate: Thu Feb 25 10:23:16 2016 +0100
Commit:     Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
CommitDate: Thu Feb 25 10:23:16 2016 +0100

    gazsim-depthcam: simulation plugin for depth cameras
    
    Moved into Fawkes-repo from fawkes-athome

http://git.fawkesrobotics.org/fawkes.git/commit/2f00cc9
http://trac.fawkesrobotics.org/changeset/2f00cc9

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------


- *Diffs* -------------------------------------------------------------

- *commit* 2f00cc914647b8dc9689ca44d2c52c23f4df4417 - - - - - - - - - -
Author:  Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
Date:    Thu Feb 25 10:23:16 2016 +0100
Subject: gazsim-depthcam: simulation plugin for depth cameras

 cfg/conf.d/gazsim.yaml                             |    7 ++
 src/plugins/gazebo/Makefile                        |    3 +-
 .../{gazsim-webcam => gazsim-depthcam}/Makefile    |   28 +++--
 .../gazsim_depthcam_plugin.cpp}                    |   22 ++--
 .../gazsim-depthcam/gazsim_depthcam_thread.cpp     |  105 ++++++++++++++++++++
 .../gazsim_depthcam_thread.h}                      |   54 ++++++-----
 6 files changed, 171 insertions(+), 48 deletions(-)

_Diff for modified files_:
diff --git a/cfg/conf.d/gazsim.yaml b/cfg/conf.d/gazsim.yaml
index 350c5f6..f9750c5 100644
--- a/cfg/conf.d/gazsim.yaml
+++ b/cfg/conf.d/gazsim.yaml
@@ -74,3 +74,10 @@ gazsim:
       update-rate: 5.0 #in Hz
       label-size: 0.3
       label-height: 0.9
+
+  depthcam:
+    topic: "~/depthcam_sensor/depthcam-pcl/"
+    width: 640
+    height: 480
+    frame: !frame kinect/depth
+    pointcloud-id: "openni-pointcloud-xyz"
\ No newline at end of file
diff --git a/src/plugins/gazebo/Makefile b/src/plugins/gazebo/Makefile
index 60cc4b4..76aab95 100644
--- a/src/plugins/gazebo/Makefile
+++ b/src/plugins/gazebo/Makefile
@@ -23,7 +23,8 @@ include $(BASEDIR)/src/plugins/gazebo/protobuf.mk
 PRESUBDIRS = aspect msgs
 
 SUBDIRS = gazsim-robotino gazsim-laser gazsim-localization gazsim-comm \
-	  gazsim-vis-localization gazsim-webcam gazsim-timesource
+	  gazsim-vis-localization gazsim-webcam gazsim-timesource \
+	  gazsim-depthcam
 
 LIBS_gazebo = fawkescore fawkesaspects fawkesgazeboaspect
 OBJS_gazebo = gazebo_plugin.o node_thread.o




-- 
Fawkes Robotics Framework                 http://www.fawkesrobotics.org


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