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Added pointcloud_to_depthimage node, supporting bgra8/rgba8 format as well as smaller depth image than rgb

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matlabbe
2017-02-23 00:18:08 -05:00
parent 2739ddf771
commit b4a2389bae
3 changed files with 223 additions and 10 deletions
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CMakeLists.txt
+4 -1
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@@ -18,7 +18,7 @@ find_package(rviz)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.11.13 REQUIRED)
find_package(RTABMap 0.12.1 REQUIRED)
find_package(OpenCV REQUIRED)
@@ -321,6 +321,9 @@ target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
add_executable(odom_msg_to_tf src/OdomMsgToTFNode.cpp)
target_link_libraries(odom_msg_to_tf rtabmap_ros ${Libraries})
add_executable(pointcloud_to_depthimage src/PointCloudToDepthImageNode.cpp)
target_link_libraries(pointcloud_to_depthimage rtabmap_ros ${Libraries})
#############
## Install ##
#############