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Added undistort_depth nodelet

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matlabbe
2016-10-05 13:55:52 -04:00
parent 9338c6ef59
commit 835cfbc131
6 changed files with 152 additions and 0 deletions
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launch/tests/test_undistort_depth.launch
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<launch>
<!-- Kinect: -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="true" />
</include>
<arg name="depth" default="/camera/depth_registered/image_raw" />
<arg name="model" default="$(find rtabmap_ros)/launch/calibration/distortion_model_PS1080.bin" /> <!-- XTION Live Pro -->
<group ns="camera">
<!-- Undistort depth image -->
<node pkg="nodelet" type="nodelet" name="undistort" args="load rtabmap_ros/undistort_depth camera_nodelet_manager">
<remap from="depth" to="$(arg depth)"/>
<param name="model" value="$(arg model)"/>
</node>
</group>
</launch>