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Depth registered filtered #25

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merged 2 commits into from
May 7, 2016
Merged

Depth registered filtered #25

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38851aa
adding depth_registered_filtered injection
jbohren Sep 11, 2014
46c145b
fixup whitespace
jbohren Oct 17, 2014
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2 changes: 1 addition & 1 deletion launch/includes/depth.launch.xml
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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
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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" />


<!-- 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>

Expand Down Expand Up @@ -72,7 +76,7 @@
<!-- 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="$(arg depth_registered)/hw_registered/image_rect_raw" />
<remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/hw_registered/image_rect_raw" />
<remap from="depth_registered/points" to="$(arg depth_registered)/points" />
</node>

Expand All @@ -93,5 +97,5 @@
</node>

</group>

</launch>
2 changes: 1 addition & 1 deletion launch/includes/manager.launch.xml
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Expand Up @@ -10,7 +10,7 @@
<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
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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>