Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

adding depth_registered_filtered injection #12

Closed
wants to merge 2 commits into from
Closed

adding depth_registered_filtered injection #12

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6b705bd
adding depth_registered_filtered injection
jbohren Sep 11, 2014
40b3655
fixup whitespace
jbohren Oct 17, 2014
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion launch/includes/depth.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
<remap from="image_raw" to="$(arg depth)/image_raw" />
<remap from="image" to="$(arg depth)/image" />
</node>

<!-- XYZ point cloud (optional, disable if publishing XYZRGB instead) -->
<node if="$(arg points_xyz)"
pkg="nodelet" type="nodelet" name="$(arg depth)_points"
Expand Down
10 changes: 7 additions & 3 deletions launch/includes/depth_registered.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@
<!-- For distinguishing multiple register/XYZRGB nodelets. Default fails if rgb
or depth contains a namespace. -->
<arg name="suffix" default="$(arg depth)_$(arg rgb)" />
<!-- For filtering depth images, set depth_registered_filtered to the
filtered depth image topic -->
<arg name="depth_registered_filtered" default="depth_registered" />
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think the default value should read $(arg depth_registered)

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

That sounds right.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Could you update and test again? I don't have an Indigo system right now to test the change.



<!-- Registration nodelet, projecting depth to RGB camera -->
<group if="$(arg sw_registered_processing)">
Expand All @@ -39,7 +43,7 @@
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/image_rect_color" to="$(arg rgb)/image_rect_color" />
<remap from="rgb/camera_info" to="$(arg rgb)/camera_info" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered)/sw_registered/image_rect_raw" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/sw_registered/image_rect_raw" />
<remap from="depth_registered/points" to="$(arg depth_registered)/points" />
</node>
</group>
Expand All @@ -63,9 +67,9 @@
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/image_rect_color" to="$(arg rgb)/image_rect_color" />
<remap from="rgb/camera_info" to="$(arg rgb)/camera_info" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered)/hw_registered/image_rect_raw" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/hw_registered/image_rect_raw" />
<remap from="depth_registered/points" to="$(arg depth_registered)/points" />
</node>
</group>

</launch>
2 changes: 1 addition & 1 deletion launch/includes/manager.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<!-- Worker threads -->
<arg name="num_worker_threads" />

<!-- Also globally disable bond heartbeat timeout in debug mode, so everything
doesn't die when you hit a break point -->
<param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" />
Expand Down
38 changes: 20 additions & 18 deletions launch/includes/processing.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,11 +21,12 @@
<arg name="hw_registered_processing" default="true" />

<!-- Remapping arguments -->
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth" default="depth" />
<arg name="depth_registered" default="depth_registered" />
<arg name="projector" default="projector" />
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth" default="depth" />
<arg name="depth_registered" default="depth_registered" />
<arg name="depth_registered_filtered" default="depth_registered" />
<arg name="projector" default="projector" />

<!-- RGB processing -->
<include if="$(arg rgb_processing)"
Expand Down Expand Up @@ -55,13 +56,14 @@
<!-- Depth-to-RGB registration and processing -->
<include if="$(arg depth_registered_processing)"
file="$(find rgbd_launch)/launch/includes/depth_registered.launch.xml">
<arg name="manager" value="$(arg manager)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
<arg name="manager" value="$(arg manager)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="depth_registered_filtered" value="$(arg depth_registered_filtered)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
</include>

<!-- Unregistered disparity image -->
Expand All @@ -76,12 +78,12 @@
<!-- Registered disparity image -->
<include if="$(arg disparity_registered_processing)"
file="$(find rgbd_launch)/launch/includes/disparity_registered.launch.xml">
<arg name="manager" value="$(arg manager)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
<arg name="manager" value="$(arg manager)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
</include>

</launch>