rtabmap_util tests and doc (#1450)

* Initial tests * more tests * More in-depth deskew() testing * slightly less verbose clamping corruption warning * added tf buffer related tests * added remaining tests * Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp * cleanup doc * fixing ci * rtabmap_util tests and doc * Added db_player tests * Added MapsManager tests * Added map_assembler tests * Documenting node first draft * relative links * Fixed british->usa english style. Reviewed all md files. * added link to install ros1 * updated badges * added Iron * added ubuntu * added codecov * updated coverage ci * fixing rosdep * updated ci cov job * ci bump * fixing cov ci * small doc cleanup
2026-10-04 08:47:45 +08:00 · 2026-09-07 21:23:22 -07:00
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+# disparity_to_depth
+
+Converts a disparity image into a depth image.
+
+Most of ROS handles depth, while a stereo pipeline produces disparity. This node bridges the two: for every pixel it computes `depth = baseline * focal / disparity`, taking the baseline and focal length from the incoming [`stereo_msgs/msg/DisparityImage`](https://docs.ros.org/en/jazzy/p/stereo_msgs/msg/DisparityImage.html) itself, so no camera info is needed.
+
+Pixels whose disparity falls outside the message's own `min_disparity`/`max_disparity` are written as zero, which is the ROS convention for "no reading".
+
+## Usage
+
+```bash
+ros2 run rtabmap_util disparity_to_depth --ros-args \
+  -r disparity:=/stereo/disparity \
+  -r depth:=/stereo/depth
+```
+
+```python
+ComposableNode(
+    package='rtabmap_util',
+    plugin='rtabmap_util::DisparityToDepth',
+    name='disparity_to_depth',
+    remappings=[('disparity', '/stereo/disparity'),
+                ('depth', '/stereo/depth')])
+```
+
+## Subscribed Topics
+
+| Topic | Type | Description |
+|---|---|---|
+| `disparity` | [`stereo_msgs/msg/DisparityImage`](https://docs.ros.org/en/jazzy/p/stereo_msgs/msg/DisparityImage.html) | The disparity image must be `32FC1`; anything else is rejected with an error. |
+
+## Published Topics
+
+| Topic | Type | Description |
+|---|---|---|
+| `depth` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) (`32FC1`) | Depth in **meters**. |
+| `depth_raw` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) (`16UC1`) | The same depth in **millimeters**, the compact form most RGB-D drivers publish. |
+
+Both are computed only if something is subscribed to them, so leaving one unused costs nothing. Both keep the header of the input disparity image.
+
+## Parameters
+
+| Parameter | Type | Default | Description |
+|---|---|---|---|
+| `qos` | `int` | `0` | Reliability of both sides: `0` system default, `1` reliable, `2` best effort. |
+| `qos_sub` | `int` | value of `qos` | Reliability of the `disparity` subscription alone. |
+| `qos_pub` | `int` | value of `qos` | Reliability of the `depth` and `depth_raw` publishers alone. |
+| `queue_sub` | `int` | `1` | Queue depth of the `disparity` subscription. Must be at least 1. |
+| `queue_pub` | `int` | `1` | Queue depth of both publishers. Must be at least 1. |
+
+## Notes
+
+Depth beyond 65.535 m cannot be represented in the `16UC1` output and wraps around; use the `32FC1` `depth` topic for long-range stereo.
+
+This node performs no filtering or hole-filling. A noisy disparity image gives a noisy depth image.