Add depth_correction_enable param

Defaults to false.

Author: efernandez

src/sc.cpp

@@ -105,7 +105,16 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
         switch (sample.type) {
             case ST::CaptureSessionSample::Type::DepthFrame:
                 ROS_INFO_THROTTLE(1.0, "Depth frame: size %dx%d\n", sample.depthFrame.width(), sample.depthFrame.height());
-                handleDepth(sample.depthFrame);
+				if (depth_correction_enable_)
+				{
+					ST::DepthFrame x = sample.depthFrame;
+					x.applyExpensiveCorrection();
+					handleDepth(x);
+				}
+				else
+				{
+					handleDepth(sample.depthFrame);
+				}
                 break;
             case ST::CaptureSessionSample::Type::VisibleFrame:
                 ROS_INFO_THROTTLE(1.0, "Visible frame: size %dx%d\n", sample.visibleFrame.width(), sample.visibleFrame.height());
@@ -123,7 +132,16 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
                 }
                 if(sample.depthFrame.isValid())
                 {
-                	handleDepth(sample.depthFrame);
+					if (depth_correction_enable_)
+					{
+						ST::DepthFrame x = sample.depthFrame;
+						x.applyExpensiveCorrection();
+						handleDepth(x);
+					}
+					else
+					{
+						handleDepth(sample.depthFrame;
+					}
                 }
                 if(sample.infraredFrame.isValid())
                 {
@@ -351,6 +369,8 @@ class SCNode
 
 	bool imu_enable_;
 
+	bool depth_correction_enable_;
+
 	SessionDelegate *delegate_ = nullptr;
 	ST::CaptureSessionSettings sessionConfig_;
 	ST::CaptureSession captureSession_;
@@ -374,6 +394,9 @@ class SCNode
 		ros::param::param<bool>("~imu_enable", imu_enable_, false);
 		ROS_INFO_STREAM(NODE_NAME << ": imu_enable = " << imu_enable_);
 
+		ros::param::param<bool>("~depth_correction_enable", depth_correction_enable_, false);
+		ROS_INFO_STREAM(NODE_NAME << ": depth_correction_enable = " << depth_correction_enable_);
+
 		std::string frame_id;
 		ros::param::param<std::string>("~frame_id", frame_id, DEFAULT_FRAME_ID);
 		ROS_INFO_STREAM(NODE_NAME << ": frame_id = " << frame_id);