adding depth_registered_filtered injection #12
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| @@ -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" /> | |||
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I think the default value should read $(arg depth_registered)
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Could you update and test again? I don't have an Indigo system right now to test the change.
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@piyushk this PR sits untouched for 1.5 years. Can we merge, release and wait for the users' report? |
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Let me close this in favor of #25 and if the tests on travis I'll consider merging. |
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This enables the "injection" of a depth image filter into the middle of the rgbd processing pipeline. This is useful for efficiently removing known structure from the point cloud like a robotic manipulator.
It's done by defining the "depth_registered_filtered" argument, which then gets used by the point cloud processing node instead of the raw "depth_registered" topic.