From 838d37f9bd817fc38764e9bf6c1db61ea9320077 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Tue, 20 Aug 2024 12:51:05 +0200
Subject: [PATCH] rectify rgbd outside rgbd.yaml

---
 launch/pointcloud.launch |  6 ++++++
 launch/rgbd.launch       | 10 ++--------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/launch/pointcloud.launch b/launch/pointcloud.launch
index ef6b002..21745e5 100644
--- a/launch/pointcloud.launch
+++ b/launch/pointcloud.launch
@@ -6,6 +6,12 @@
     <arg name="rectify_rgb" default="true" />
     <arg name="no_record" default="false" />
 
+    <node pkg="nodelet" type="nodelet" name="rectify_color"
+        args="load image_proc/rectify $(arg  name)_nodelet_manager" if="$(arg rectify_rgb)">
+        <remap from="image_mono" to="$(arg name)/rgb/image_raw" />
+        <remap from="image_rect" to="$(arg name)/rgb/image_rect" />
+    </node>
+
     <node pkg="nodelet" type="nodelet" name="depth_image_to_rgb_pointcloud"
         args="load depth_image_proc/point_cloud_xyzrgb $(arg  name)_nodelet_manager">
         <param name="queue_size" value="10" />
diff --git a/launch/rgbd.launch b/launch/rgbd.launch
index 8462821..cde35c9 100644
--- a/launch/rgbd.launch
+++ b/launch/rgbd.launch
@@ -45,21 +45,15 @@
         if="$(arg use_realsense)">
         <arg name="name" value="$(arg name)" />
         <arg name="align_depth" value="true" />
-        <arg name="pointcloud" value="true" unless="$(arg no_pointcloud)"/>
+        <arg name="pointcloud" value="true" unless="$(arg no_pointcloud)" />
 
         <!-- Remapping args, to follow luxonis convention -->
         <arg name="rgb" default="rgb" />
         <arg name="depth_registered_pub" default="$(arg name)" />
     </include>
 
-    <node pkg="nodelet" type="nodelet" name="rectify_color"
-        args="load image_proc/rectify $(arg  name)_nodelet_manager" if="$(arg rectify_rgb)">
-        <remap from="image_mono" to="$(arg name)/rgb/image_raw" />
-        <remap from="image_rect" to="$(arg name)/rgb/image_rect" />
-    </node>
-
     <include file="$(dirname)/pointcloud.launch" unless="$(arg no_pointcloud)">
-        <arg name="name" value="$(arg name)"/>
+        <arg name="name" value="$(arg name)" />
         <arg name="rectify_rgb" value="$(arg rectify_rgb)" />
         <arg name="no_record" value="$(arg no_record)" />
     </include>