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Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.

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matlabbe
2018-02-13 21:35:15 -05:00
parent 6b14693a95
commit 438fad643c
24 changed files with 384 additions and 209 deletions
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launch/demo/demo_two_kinects.launch
+8 -6
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@@ -50,16 +50,18 @@
<!-- sync rgb/depth images per camera -->
<group ns="camera1">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>
<group ns="camera2">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>