Fix/linear interpolation and interprete t cam imu #48
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Without this, depth images resulted in very noisy images along rays where neighbors where invalid.
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Can one of the admins verify this patch? |
ZacharyTaylor
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ZacharyTaylor
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I have two small issues with this pr as it may impact the current use cases of this node.
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While it gives a significant speed up nearest neighbor interpolation significantly degrades the image quality. Because of this I think it would make sense to add this as a parameter with the default remaining as linear interpolation as in most use cases on robotic platforms the images are fairly low resolution leading to fairly negligible CPU use.
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I think it makes more sense to have publishing the IMU TF frame off by default as in most cases where the node is used with an IMU, this TF is already supplied by another node which could lead to conflicts if both are enabled.
| XmlRpc::XmlRpcValue K_in; | ||
| bool K_loaded = false; | ||
| std::string k_param = camera_namespace + "/K"; | ||
| std::cout << k_param << std::endl; |
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remove unneeded io or use ROS_INFO_STREAM instead
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