README.md

diparity_visualize

diparity_visualize is a ROS package and contains a nodelet to visualize stereo_msgs/DisparityImage .

This is based on and similar to disparity_view in image_view , but there are some difference:

• Output is ROS topic instead of OpenCV window
• HSV color map

diparity_visualize/diparity_visualize

A nodelet visualizes stereo_msgs/DisparityImage as RGB sensor_msgs/Image .

Disparity at each pixel is normalized by DisparityImage/min_disparity and max_disparity , and then colored by HSV color map . Pixels out of [min_disparity, max_disparity] are treated as invalid and colored by black.

Subscribed topic

• disparity ( stereo_msgs/DisparityImage )

  Input disparity image.

Published topic

• image ( sensor_msgs/Image )

  RGB image visualizes disparity.