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Add depth correction enable param #8

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Add depth correction enable param #8

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faad764
Convert depth to meters
efernandez Mar 5, 2019
2cec3fd
Add depth_correction_enable param
efernandez Mar 5, 2019
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8 changes: 7 additions & 1 deletion src/sc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -238,7 +238,7 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
for(int x = 0; x < depthFrame.width(); x++)
{
std::size_t pixelOffset = (y * depthFrame.width()) + x;
img.at<float>(y, x) = buf[pixelOffset];
img.at<float>(y, x) = buf[pixelOffset] * 0.001f;
}
}

Expand Down Expand Up @@ -351,6 +351,8 @@ class SCNode

bool imu_enable_;

bool depth_correction_enable_;

SessionDelegate *delegate_ = nullptr;
ST::CaptureSessionSettings sessionConfig_;
ST::CaptureSession captureSession_;
Expand All @@ -374,6 +376,9 @@ class SCNode
ros::param::param<bool>("~imu_enable", imu_enable_, false);
ROS_INFO_STREAM(NODE_NAME << ": imu_enable = " << imu_enable_);

ros::param::param<bool>("~depth_correction_enable", depth_correction_enable_, false);
ROS_INFO_STREAM(NODE_NAME << ": depth_correction_enable = " << depth_correction_enable_);

std::string frame_id;
ros::param::param<std::string>("~frame_id", frame_id, DEFAULT_FRAME_ID);
ROS_INFO_STREAM(NODE_NAME << ": frame_id = " << frame_id);
Expand All @@ -393,6 +398,7 @@ class SCNode

sessionConfig_.source = ST::CaptureSessionSourceId::StructureCore;
sessionConfig_.structureCore = scConfig;
sessionConfig_.applyExpensiveCorrection = depth_correction_enable_;

delegate_ = new SessionDelegate(nh_, frame_id, sessionConfig_);
captureSession_.setDelegate(delegate_);
Expand Down