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fix(discut): fix discut boost & add ros disparity_type_

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TinyOh
2019-01-28 10:00:22 +08:00
parent 7dabf5cc9d
commit 8b5c886b78
4 changed files with 20 additions and 5 deletions
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7
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -56,6 +56,11 @@
<arg name="request_index" default="$(arg index_s2_2)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg sgbm)" />
<arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" />
@@ -242,6 +247,8 @@
<param name="gravity" value="$(arg gravity)" />
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
<!-- stream toggles -->
<param name="enable_left_rect" value="$(arg enable_left_rect)" />

8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@@ -226,6 +226,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
gravity_ = 9.8;
private_nh_.getParam("gravity", gravity_);
int tmp_disparity_type_ = 0;
disparity_type_ = DisparityComputingMethod::BM;
private_nh_.getParam("disparity_computing_method", tmp_disparity_type_);
disparity_type_ = (DisparityComputingMethod)tmp_disparity_type_;
api_->SetDisparityComputingMethodType(disparity_type_);
// device options of standard210a
if (model_ == Model::STANDARD210A) {
option_names_ = {
@@ -1317,6 +1323,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
double gravity_;
// disparity type
DisparityComputingMethod disparity_type_;
// api
std::shared_ptr<API> api_;