camera_link (string, default: "/softkinetic_link")
The frame ID of the camera.
confidence_threshold (int, default: 150)
Confidence threshold for DepthNode configuration.
Sensor noise is filtered by increasing the threshold.
Threshold needs to be within [0, 32767].
Camera_umd
Feedback/Softkinetic_Bringup (sensor_msgs::PointCloud2)
- @node: softkinetic_bringup_node
- @Publisher:
- @Subscriber:NONE
- @msg: sensor_msgs::PointCloud2
- @purpose: API for communicating Senz3D camera with ROS
Filters/PassThrough (sensor_msgs::PointCloud2)
- @node: passthrough_filter_node
- @Publisher: daVinci/Fixture/PassthroughFilter
- @Subscriber: /softkinetic_camera/depth/points
- @msg: sensor_msgs::PointCloud2
- @purpose: iterates through cloud once, filters out non-finite points and points outside intervals (0,1.5) on the "z" field
Filters/RadiusConditional (sensor_msgs::PointCloud2)
- @node: radius_conditional_filter_node
- @Publisher: /daVinci/Fixture/RadiusConditionalFilter
- @Subscriber:/daVinci/Segmentation/ObjectSegmentation
- @msg: sensor_msgs::PointCloud2
- @purpose: eliminates noise from cloud by removing all points outside of a radius treshold
Segmentation/OutlierDisplay (sensor_msgs::PointCloud2)
- @node: outlier_display_node
- @Publisher: /daVinci/Fixture/OutliersDisplay
- @Subscriber: /daVinci/Fixture/PassthroughFilter
- @msg: sensor_msgs::PointCloud2
- @purpose: finds the biggest plane (wall or table) using RANSAC (SAC_RANSAC) plane model fitting and removes biggest plane and displays the remaining points
Segmentation/Object_Segmentation (sensor_msgs::PointCloud2)
- @node:
- @Publisher:
- @Subscriber:
- @msg: sensor_msgs::PointCloud2
- @purpose:
Images/Fixed_Base_Tool (sensor_msgs::PointCloud2)
- @node: fixed_base_tool_node
- @Publisher: /daVinci/Fixture/Constants/BaseTipLocation
- @Subscriber: NONE
- @msg: sensor_msgs::PointCloud2
- @purpose: two arbitrary PointCloud2 points in space with a predefined pose - it is used to insinuate transformation between PSM base to Tooltip
Images/Normal_Components (sensor_msgs::PointCloud2)
- @node: normal_components_node
- @Publisher:
- @Subscriber: /softkinetic_camera/depth/points
- @msg: sensor_msgs::PointCloud2
- @purpose: assigns objects surface point to be Point Type Normal and creates a surface Normal vector field
Registration/Preoperative_object (sensor_msgs::PointCloud2)
- @node: pre_operative_image_node
- @Publisher: PCD file
- @Subscriber:/softkinetic_camera/depth/points
- @msg: sensor_msgs::PointCloud2
- @purpose: stores a 3D point cloud object in a PCD file
Registration/Intraoperative_object (sensor_msgs::PointCloud2)
- @node: intra_operative_image_node
- @Publisher: PCD file
- @Subscriber:/softkinetic_camera/depth/points
- @msg: sensor_msgs::PointCloud2
- @purpose: stores a 3D point cloud object in a PCD file
Registration/Cloud_to_Cloud_Registration (sensor_msgs::PointCloud2)
- @node: cloud_to_cloud_registration_node
- @Publisher: PCD
- @Subscriber: /softkinetic_camera/depth/points
- @msg: sensor_msgs::PointCloud2
- @purpose: registration of a 3D object by extracting surface points from preoperative and intraoperative clouds and registering them - high register quality
Data Analysis/
virtual_fixtures_display.launch (visualization::RViz)
Displays the following nodes on RViz
1 softkinetic_bringup_node
2 passthrough_filter_node
3 fixed_base_tool_node
4 object_seg_node
5 outlier_display_nod
6 reconstruction_triangulation_node
7 pre_operative_image_node
8 concave_hull_node