© 2018 by Yaadhav Raaj
 

Basler ROS Driver

A Kinect v2 equivalent ROS driver for fusing Basler TOF and RGB Cameras

I developed a ROS driver​ that merges the RGB and Depth cameras into a single system, and is capable of producing a RGB pointcloud at 20 FPS, using GPU resources.

This driver includes the frame capture elements from both the RGB and TOF cameras, a calibration suite for both intrinsics and extrinsics, depth to rgb frame registration, point cloud generation and post processing to ensure clean data.

All of these run using GPU resources, and have been developed with a ROS backend to be a drop in replacement for the Kinect v2.

The software can be found here: Link