mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbeandmathieu86
11edc01d6a
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
64 lines
2.7 KiB
Markdown
64 lines
2.7 KiB
Markdown
# disparity_to_depth
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Converts a disparity image into a depth image.
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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.
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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".
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## Contents
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- [Usage](#usage)
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- [Subscribed Topics](#subscribed-topics)
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- [Published Topics](#published-topics)
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- [Parameters](#parameters)
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- [Notes](#notes)
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## Usage
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```bash
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ros2 run rtabmap_util disparity_to_depth --ros-args \
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-r disparity:=/stereo/disparity \
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-r depth:=/stereo/depth
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```
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```python
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ComposableNode(
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package='rtabmap_util',
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plugin='rtabmap_util::DisparityToDepth',
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name='disparity_to_depth',
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remappings=[('disparity', '/stereo/disparity'),
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('depth', '/stereo/depth')])
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```
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## Subscribed Topics
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| Topic | Type | Description |
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| `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. |
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## Published Topics
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| Topic | Type | Description |
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| `depth` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) (`32FC1`) | Depth in **meters**. |
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| `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. |
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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.
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## Parameters
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| Parameter | Type | Default | Description |
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| `qos` | `int` | `0` | Reliability of both sides: `0` system default, `1` reliable, `2` best effort. |
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| `qos_sub` | `int` | value of `qos` | Reliability of the `disparity` subscription alone. |
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| `qos_pub` | `int` | value of `qos` | Reliability of the `depth` and `depth_raw` publishers alone. |
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| `queue_sub` | `int` | `1` | Queue depth of the `disparity` subscription. Must be at least 1. |
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| `queue_pub` | `int` | `1` | Queue depth of both publishers. Must be at least 1. |
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## Notes
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Depth beyond 65.535 m cannot be represented in the `16UC1` output and wraps around; use the `32FC1` `depth` topic for long-range stereo.
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This node performs no filtering or hole-filling. A noisy disparity image gives a noisy depth image.
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