Publish projector/camera_info (fixes disparity img) #48
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Ported from PCL: https://github.com/PointCloudLibrary/pcl/blob/ecd2e89e748bc1151b7fa9a384ba5e0c3ae0c26f/io/src/openni2/openni2_device.cpp#L79-L85 The old openni_camera used a property provided by the OpenNI library for this, but these have been removed in OpenNI2: https://github.com/ros-drivers/openni_camera/blob/84dec85d79075451f41c3dcf37e1b8eacbd14212/src/openni_device.cpp#L180-L183
Both `freenect_camera` and `openni_camera` publish the topic `/camera/projector/camera_info`, but `openni2_camera` didn't. This commit fixes that. The topic is required for the disparity image to work (see ros-drivers/rgbd_launch#6). This commit is a port from the original openni_camera driver. How to test: roslaunch openni2_launch openni2.launch disparity_processing:=true rosrun image_view disparity_view image:=/camera/depth/disparity or: roslaunch openni2_launch openni2.launch depth_registration:=true disparity_registered_processing:=true rosrun image_view disparity_view image:=/camera/depth_registered/disparity
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Lgtm and Ci passed. Merging. Thank you for the contribution. |
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Both
freenect_cameraandopenni_camerapublish the topic/camera/projector/camera_info, butopenni2_cameradidn't. This commit fixes that.The topic is required for the disparity image to work (see ros-drivers/rgbd_launch#6). This PR is a port from the original openni_camera driver.
How to test:
or: