tweak for pr2 point cloud

ojh6404 · Mar 17, 2024 · fe03661 · fe03661
1 parent 274f1d9
commit fe03661
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/..._ros/launch/decompress_point_cloud.launch → ...king_ros/launch/create_point_cloud.launch b/..._ros/launch/decompress_point_cloud.launch → ...king_ros/launch/create_point_cloud.launch
@@ -5,6 +5,7 @@
   <arg name="launch_manager" default="true" />
   <arg name="machine" default="localhost" />
   <arg name="namespace" default="kinect_head_remote" />
+  <arg name="decompress" default="false" />
 
   <arg name="RGB_CAMERA_INFO" default="/kinect_head/rgb/camera_info" />
   <arg name="RGB_IMAGE" default="/kinect_head/rgb/image_rect_color" />
@@ -20,12 +21,13 @@
   <node name="rgb_decompress" pkg="image_transport" type="republish"
         args="compressed in:=$(arg RGB_IMAGE) out:=$(arg RGB_REMOTE_IMAGE)" />
   <node name="depth_decompress" pkg="image_transport" type="republish"
-        args="compressedDepth in:=$(arg DEPTH_IMAGE) out:=$(arg DEPTH_REMOTE_IMAGE)" />
+        args="compressedDepth in:=$(arg DEPTH_IMAGE) out:=$(arg DEPTH_REMOTE_IMAGE)" if="$(arg decompress)" />
   <node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb"
         args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" output="screen" >
     <remap from="rgb/camera_info" to="$(arg RGB_CAMERA_INFO)" />
     <remap from="rgb/image_rect_color" to="$(arg RGB_REMOTE_IMAGE)" />
-    <remap from="depth_registered/image_rect" to="$(arg DEPTH_REMOTE_IMAGE)" />
+    <remap from="depth_registered/image_rect" to="$(arg DEPTH_IMAGE)" unless="$(arg decompress)" />
+    <remap from="depth_registered/image_rect" to="$(arg DEPTH_REMOTE_IMAGE)" if="$(arg decompress)" />
     <remap from="depth_registered/points" to="$(arg CLOUD)" />
     <rosparam>
       queue_size: 100

diff --git a/tracking_ros/launch/tracking_3d.launch b/tracking_ros/launch/tracking_3d.launch
@@ -1,6 +1,7 @@
 <launch>
   <arg name="namespace" default="tracking_ros" />
   <arg name="standalone" default="false"/> <!-- debug nodes by setting then standalone -->
+  <arg name="decompress" default="false" />
   <arg name="MANAGER" value="detection_manager" unless="$(arg standalone)"/>
   <arg name="MANAGER" value="" if="$(arg standalone)"/>
   <arg name="LOAD_STATEMENT" value="load" unless="$(arg standalone)"/>
@@ -15,9 +16,10 @@
   <group ns='$(arg namespace)'>
     <node name="$(arg MANAGER)" pkg="nodelet" type="nodelet" args="manager"/>
 
-    <include file="$(find tracking_ros)/launch/decompress_point_cloud.launch" >
+    <include file="$(find tracking_ros)/launch/create_point_cloud.launch" >
       <arg name="launch_manager" value="false"/> <!-- already launched -->
       <arg name="manager" value="$(arg MANAGER)"/>
+      <arg name="decompress" value="$(arg decompress)"/>
       <arg name="namespace" value="$(arg namespace)"/>
       <arg name="RGB_CAMERA_INFO" value="$(arg input_camera_info)" />
       <arg name="RGB_IMAGE" value="$(arg input_image)" />
@@ -60,10 +62,11 @@
         align_boxes: true
         align_boxes_with_plane: false
         force_to_flip_z_axis: false
-        use_pca: false
+        use_pca: true
         target_frame_id: $(arg target_frame_id)
         approximate_sync: true
         queue_size: 100
+        publish_tf: true
       </rosparam>
     </node>
   </group>