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ros-naoqi / naoqi_driver

c++ bridge based on libqi
Apache License 2.0
51 stars 93 forks source link

Feature/stereo #111

Closed mbusy closed 5 years ago

mbusy commented 5 years ago

On Pepper 1.8, the depth information is reconstructed from the stereo information provided by 2 RGB cameras (each RGB camera is located behind each eye, the left eye is used as referential).

This PR makes naoqi_driver compatible with Pepper 1.8 and ensures its compatibility with the previous versions of the robot. On a 1.8 robot, the user will now be able to access to:

nlyubova commented 5 years ago

hey, great that you've done it !

severin-lemaignan commented 5 years ago

Thanks for contribution! After a first cursory check, it looks ok to me (I haven't tested the code, though).

Could you add somewhere a debug message telling the user which version of the robot has been detected? (like 'Pepper 1.8', 'Pepper 1.6', 'Pepper 1.8a', etc)

mbusy commented 5 years ago

You're welcome, we needed it anyway, so why not share it with the community :) Sure, I could add that in the initial logs

severin-lemaignan commented 5 years ago

@nlyubova any chance you can test the code before we merge?

nlyubova commented 5 years ago

@severin-lemaignan Sorry, I don’t have Pepper.

mbusy commented 5 years ago

I was able to test it on a Pepper 1.8 and on a Pepper 1.8A, it was working fine. If an additional tester is required, I think that @zygopter could have access to some Peppers :)

severin-lemaignan commented 5 years ago

We'll trust you on that one ;-) Merging now. Thanks!