Hello,
I need to read rectified RGB and depth images, but my Femto Mega is publishing raw topics only. The only registered topic is the point cloud /orbbec/depth_registered/points. Is it possible to publish also the images in topics like /orbbec/color/image_rect and /orbbec/depth/depth_rect?
My current configuration file is:
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="orbbec"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="true"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default=""/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="true"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="color_fps" default="30"/>
<arg name="enable_color" default="true"/>
<arg name="color_format" default="MJPG"/>
<arg name="flip_color" default="false"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="576"/>
<arg name="depth_fps" default="30"/>
<arg name="enable_depth" default="true"/>
<arg name="depth_format" default="Y16"/>
<arg name="flip_depth" default="false"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="576"/>
<arg name="ir_fps" default="30"/>
<arg name="enable_ir" default="true"/>
<arg name="ir_format" default="Y16"/>
<arg name="flip_ir" default="false"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_uri" default=""/>
<arg name="color_info_uri" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_pipeline" default="true"/>
<arg name="enable_soft_filter" default="true"/>
<group ns="$(arg camera_name)">
<node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(arg camera_name)"/>
<param name="depth_registration" value="$(arg depth_registration)"/>
<param name="serial_number" type="string" value="$(arg serial_number)"/>
<param name="vendor_id" value="$(arg vendor_id)"/>
<param name="product_id" value="$(arg product_id)"/>
<param name="enable_point_cloud" value="$(arg enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(arg enable_colored_point_cloud)"/>
<param name="connection_delay" value="$(arg connection_delay)"/>
<param name="color_width" value="$(arg color_width)"/>
<param name="color_height" value="$(arg color_height)"/>
<param name="color_fps" value="$(arg color_fps)"/>
<param name="enable_color" value="$(arg enable_color)"/>
<param name="color_format" value="$(arg color_format)"/>
<param name="flip_color" value="$(arg flip_color)"/>
<param name="enable_color_auto_exposure" value="$(arg enable_color_auto_exposure)"/>
<param name="depth_width" value="$(arg depth_width)"/>
<param name="depth_height" value="$(arg depth_height)"/>
<param name="depth_fps" value="$(arg depth_fps)"/>
<param name="enable_depth" value="$(arg enable_depth)"/>
<param name="depth_format" value="$(arg depth_format)"/>
<param name="flip_depth" value="$(arg flip_depth)"/>
<param name="ir_width" value="$(arg ir_width)"/>
<param name="ir_height" value="$(arg ir_height)"/>
<param name="ir_fps" value="$(arg ir_fps)"/>
<param name="enable_ir" value="$(arg enable_ir)"/>
<param name="ir_format" value="$(arg ir_format)"/>
<param name="flip_ir" value="$(arg flip_ir)"/>
<param name="enable_ir_auto_exposure" value="$(arg enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(arg publish_tf)"/>
<param name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<param name="ir_info_uri" value="$(arg ir_info_uri)"/>
<param name="color_info_uri" value="$(arg color_info_uri)"/>
<param name="log_level" value="$(arg log_level)"/>
<param name="enable_d2c_viewer" value="$(arg enable_d2c_viewer)"/>
<param name="enable_pipeline" value="$(arg enable_pipeline)"/>
<param name="device_num" value="$(arg device_num)"/>
<param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
<remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
</node>
</group>
</launch>