Point cloud reformation to kinect-like

[knorth55]

Point Cloud reformation to kinect-like

• optical frame coordinates are modified to kinect-like
• point cloud frame modified to softkinetic_camera_rgb_optical_frame, same as rgb camera frame
• remove non-colorized point cloud

The reason why I removed non-colorized point cloud is that point cloud which contain both colorized and non-colorized points is too complicated to manage. When you use same point cloud processing as kinect or other devices, point cloud which consist of only colorized points is easy to manage and have no necessity to modify algorithm.

[knorth55]

@ipa-mig ping

[ipa-flg]

CR: ok

[mgruhler]

We should hold this PR until it is clear how this effects our other robots...

[knorth55]

ok, thank you

[corot]

Fyi, this implements issue #46.

Maybe we should merge in a new jade or even kinetic branch?

[knorth55]

ping

[knorth55]

ping

[knorth55]

ping

[ipa-flg]

CR :ok:

[gavanderhoorn]

@corot wrote:

Maybe we should merge in a new jade or even kinetic branch?

Seeing as this PR has been merged into indigo_dev, I guess the decision was 'no'?

@corot's suggestion makes a lot of sense, as this seems like a behaviour / assumption breaking change?

[ipa-flg]

@corot @gavanderhoorn @knorth55 fair enough. Since we're not using kinetic yet, has anyone of you tested this. In case this works out, I am fine with merging this PR to a kinetic branch and reverting the last merge respectively.

[knorth55]

this PR change behavior a lot, but i'm using this on indigo, not kinetic. also, branch name says indigo_dev so i thought that this branch is for development. if you want to make stable branch, make another branch like indigo and revert this commit in stable branch.

[knorth55]

or you can use tag

[corot]

Sorry, I'm very busy these days :see_no_evil:

But @knorth55, what would be the problem for you of switching to a jade or kinetic branch? Such a branch will surely work for your indigo installation, until we add a non backward-compatible change.

[knorth55]

I have no problem on using kinetic_dev branch, but my point is that i did not test if it works on kinetic. If everyone agree with @corot , this PR should be merged in to kinetic branch.

[corot]

I mean, even if you use indigo, for this particular package you can use a still-to-do kinetic branch, because it will be equal to indigo branch + your PR

[knorth55]

ok, I'm not sure about downward compatibility on ROS, but i will work on kinetic branch. can you createkinetic_devbranch?

[ipa-flg]

done: https://github.com/ipa320/softkinetic/tree/kinetic_dev

[knorth55]

@ipa-flg thank you :)