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ROS Node which converts a disparity map in a point cloud

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disparity_to_point_cloud

A ROS node to compute a point cloud from a disparity map.

Installation

The disparity_to_point_cloud depends on the following packages:

  • cv_bridge
sudo apt-get install ros-$ROS_DISTRO-cv-bridge
  • pcl: follow the instruction here
  • catkin build: follow the instruction here

Clone this git repositories into your catkin_ws/src directory.

You are now ready to build the package with:

cd catkin_ws
catkin build

Configuration

You need to change the input remap in the launch file for your images and point cloud topics:

Use

After starting your roscore use this to launch disparity_to_point_cloud:

roslaunch disparity_to_point_cloud d2pcloud.launch

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ROS Node which converts a disparity map in a point cloud

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