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Created April 16, 2012 17:38
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Example ROS launch file that uses depth_image_proc to convert an RGB-depth image pair into a point cloud
To distinguish between the cases where the rgb image is
1280x1024 versus 640x480. This affects the pipeline.
<arg name="high_res_rgb" default="true"/>
<arg name="cloud_input_ns" value="camera/rgb_downsampled"
if="$(arg high_res_rgb)"/>
<arg name="cloud_input_ns" value="camera/rgb" unless="$(arg high_res_rgb)"/>
<!-- Nodelet manager for this pipeline -->
<node pkg="nodelet" type="nodelet" args="manager"
name="record_player_manager" output="screen"/>
<!-- Debayer and undistort the rgb image
TODO: this should be split into nodelets -->
<!-- The depth image is already rectified and registered
to the camera optical frame, but stored in mm; convert it
to meters -->
<node pkg="nodelet" type="nodelet" name="metric_rect"
args="load depth_image_proc/convert_metric record_player_manager --no-bond">
<remap from="image_raw" to="camera/depth/image_raw"/>
<remap from="image" to="camera/depth/image"/>
<!-- Downsample and crop rgb image before converting to cloud, if it's high res -->
<node pkg="nodelet" type="nodelet" name="downsample_rgb"
args="load image_proc/crop_decimate record_player_manager --no-bond"
if="$(arg high_res_rgb)">
<param name="decimation_x" value="2"/>
<param name="decimation_y" value="2"/>
<param name="width" value="1280"/>
<param name="height" value="960"/>
<remap from="camera" to="camera/rgb"/>
<remap from="camera_out" to="$(arg cloud_input_ns)"/>
<remap from="camera/rgb/image_raw" to="camera/rgb/image_rect_color"/>
<remap from="$(arg cloud_input_ns)/image_raw" to="$(arg cloud_input_ns)/image_rect_color"/>
<!-- Convert it into a point cloud -->
<node pkg="nodelet" type="nodelet" name="cloudify"
args="load depth_image_proc/point_cloud_xyzrgb record_player_manager --no-bond">
<remap from="depth_registered/image_rect" to="camera/depth/image"/>
<remap from="depth_registered/points" to="camera/depth_registered/points"/>
<remap from="rgb/image_rect_color" to="$(arg cloud_input_ns)/image_rect_color"/>
<remap from="rgb/camera_info" to="$(arg cloud_input_ns)/camera_info"/>
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