A ROS node to compute a point cloud from a disparity map.
The disparity_to_point_cloud depends on the following packages:
- cv_bridge
sudo apt-get install ros-$ROS_DISTRO-cv-bridge
Clone this git repositories into your catkin_ws/src
directory.
You are now ready to build the package with:
cd catkin_ws
catkin build
You need to change the input remap in the launch file for your images and point cloud topics:
- disparity image: https://github.com/PX4/disparity_to_point_cloud/blob/master/launch/d2pcloud.launch#L3
- point cloud : https://github.com/PX4/disparity_to_point_cloud/blob/master/launch/d2pcloud.launch#L4
After starting your roscore
use this to launch disparity_to_point_cloud:
roslaunch disparity_to_point_cloud d2pcloud.launch