Generating depth images via stereo_image_proc about image_pipeline

[AIWintermuteAI]

@ToniRV https://github.com/skohlbr/disparity_image_proc
I remember in the end I was successful using this old package(Kinectic, Ubuntu 16.04). It took me quite a long while to get the settings right. Spent 20 minutes looking for this package on Github xD
Fortunately I created an issue in that repo, that is how I was able to find it.
skohlbr/disparity_image_proc#2
The trick is in right configuration. Good luck! If you do manage to get it to work, can you post a working solution?

[vrabaud]

I believe in would make more sense to add a PR to image_geometry about that. Just call reprojectimageto3d and then copy the third channel.
Then a PR here makese sense too but it should use that API.

[lucasb-eyer]

Since you get the DisparityImageConstPtr in the callback, would it make sense to call model_.getZ(d) for each pixel d in the disparity image instead of going through an intermediary pointcloud?

[AIWintermuteAI]

Hello. Sorry to bump a very old issue, but I'm currently working on the same problem, I already have stereo camera working and stereo_image_proc provides a disparity image. But for my project I need a depth image.
From what I understand it can be calculated using following formula
depth = baseline * focallength / disparity

[ToniRV]

+1

[ToniRV]

I'll have a look thanks!

[ToniRV]

Voila:

Everything was there already thanks to @skohlbr
I enumerated my changes here skohlbr/disparity_image_proc#2