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ros-drivers / openni2_camera

ROS wrapper for openni 2.0
http://wiki.ros.org/openni2_camera
BSD 3-Clause "New" or "Revised" License
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Publish projector/camera_info (fixes disparity img) #48

Closed mintar closed 7 years ago

mintar commented 7 years ago

Both freenect_camera and openni_camera publish the topic /camera/projector/camera_info, but openni2_camera didn't. This commit fixes that.

The topic is required for the disparity image to work (see ros-drivers/rgbd_launch#6). This PR is a port from the original openni_camera driver.

How to test:

roslaunch openni2_launch openni2.launch disparity_processing:=true
rosrun image_view disparity_view image:=/camera/depth/disparity

or:

roslaunch openni2_launch openni2.launch depth_registration:=true disparity_registered_processing:=true
rosrun image_view disparity_view image:=/camera/depth_registered/disparity
130s commented 7 years ago

Lgtm and Ci passed. Merging. Thank you for the contribution.