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Recognizing objects

There are several commands to start recognition using a trained model.

Starting roscore:

    $ roscore

Starting the ROS driver for Kinect:

    $ roslaunch openni_launch openni.launch

Setting the ROS parameters for the Kinect driver:

    $ rosrun dynamic_reconfigure dynparam set /camera/driver depth_registration True
    $ rosrun dynamic_reconfigure dynparam set /camera/driver image_mode 2
    $ rosrun dynamic_reconfigure dynparam set /camera/driver depth_mode 2

Republishing the depth and RGB image topics using topic_tools relay:

    $ rosrun topic_tools relay /camera/depth_registered/image_raw /camera/depth/image_raw
    $ rosrun topic_tools relay /camera/rgb/image_rect_color /camera/rgb/image_raw

Here is the command to start recognition; we ...

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