PX4/disparity_to_point_cloud

ROS Node which converts a disparity map in a point cloud

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

sudo apt-get install ros-$ROS_DISTRO-cv-bridge

• pcl: follow the instruction here
• catkin build: follow the instruction here

Clone this git repositories into your catkin_ws/src directory.

You are now ready to build the package with:

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:

roslaunch disparity_to_point_cloud d2pcloud.launch