https://github.com/px4/disparity_to_point_cloud
ROS Node which converts a disparity map in a point cloud
https://github.com/px4/disparity_to_point_cloud
Last synced: about 1 year ago
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ROS Node which converts a disparity map in a point cloud
- Host: GitHub
- URL: https://github.com/px4/disparity_to_point_cloud
- Owner: PX4
- Created: 2016-06-08T15:23:59.000Z (about 10 years ago)
- Default Branch: master
- Last Pushed: 2018-03-15T16:26:44.000Z (over 8 years ago)
- Last Synced: 2025-04-10T00:51:35.624Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 104 KB
- Stars: 8
- Watchers: 15
- Forks: 9
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
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README
# disparity_to_point_cloud
A ROS node to compute a point cloud from a disparity map.
## Installation
The disparity_to_point_cloud depends on the following packages:
- cv_bridge
```bash
sudo apt-get install ros-$ROS_DISTRO-cv-bridge
```
- pcl: follow the instruction [here](http://pointclouds.org/downloads/linux.html)
- catkin build: follow the instruction [here](http://catkin-tools.readthedocs.io/en/latest/installing.html)
Clone [this](https://github.com/simonegu/disparity_to_point_cloud) git repositories into your `catkin_ws/src` directory.
You are now ready to build the package with:
```bash
cd catkin_ws
catkin build
```
## Configuration
You need to change the input remap in the launch file for your images and point cloud topics:
- disparity image: https://github.com/PX4/disparity_to_point_cloud/blob/master/launch/d2pcloud.launch#L3
- point cloud : https://github.com/PX4/disparity_to_point_cloud/blob/master/launch/d2pcloud.launch#L4
## Use
After starting your ```roscore``` use this to launch disparity_to_point_cloud:
```bash
roslaunch disparity_to_point_cloud d2pcloud.launch
```