Basic Tutorials

1. Viewing Your First Point Cloud in RViz

   This tutorial introduces the basic Ensenso camera node. We will open an Ensenso camera, request a point cloud and view it in RViz.

2. Setting Parameters

   This tutorial shows how to set camera parameters.

Camera Frames and Calibrations

1. Camera Frames

   This tutorial explains the different frames defined in the ensenso_camera_node or ensenso_camera_mono_node and how the 3D data is transformed.

2. Locating Calibration Patterns

   This tutorial covers how calibration patterns can be located.

3. Performing a Hand-Eye Calibration

   This tutorial shows how a hand-eye calibration can be performed with the Ensenso camera node.

4. Performing a Workspace Calibration

   This tutorial shows how a workspace calibration can be performed with the Ensenso camera node.

Using Several Cameras as Nodelets

1. Running a Camera as a Nodelet

   This tutorial explains you how to run a camera as a nodelet with a nodelet manager.

2. Camera Frames with Multiple Cameras

   This tutorial explains on how to use the different frames defined in the ensenso_camera_node or ensenso_camera_mono_node, when using multiple cameras

3. Running several Ensenso Nodelets

   This tutorial shows how to run several cameras as nodelets within the same nodelet manager.

4. Generating a colored Point Cloud with Nodelets

   This tutorial shows how to run a stereo and mono nodelet and how to generate a colored point cloud.

5. Running a C-Series Camera with two Nodelets

   This tutorial shows how to run a C-Series camera with a stereo and a mono nodelet and how to generate a colored point cloud.

6. Register a depth image to a mono camera frame with Nodelets.

   This tutorial shows how to run a stereo and mono nodelet and how to register the depth image to the mono camera frame with the depth_image_proc/register nodelet.

Additional Tutorials

1. Visualizing Data

   This tutorial introduces some utility scripts for visualizing data from Ensenso cameras.

2. Using the Ensenso URDF Files

   This tutorial introduces and shows how to use launch files, that generate the corresponding URDF files of the Ensenso cameras.

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