adding depth_registered_filtered injection #17
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This PR needs to be redirected to indigo-devel, and is blocked by ros-drivers/rgbd_launch#12 @jbohren, could you update the PR and test? I can merge it in and release a new openni_launch into Indigo after the change. |
Done at #26 |
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This enables the "injection" of a depth image filter into the middle of the rgbd processing pipeline. This is useful for efficiently removing known structure from the point cloud like a robotic manipulator.
It's done by defining the "depth_registered_filtered" argument, which then gets used by the point cloud processing node instead of the raw "depth_registered" topic.