Pointcloud Normalization

To enable Pointlcoud Normalization for depth estimation, open a terminal and navigate to your catkin workspace.

Run the following command

rosrun pointcloud_normalizer pointcloud_normalizer_node

The Pointcloud Normalizer node subscribes to the /stereo/image_rect topic and normalizes the image to a size defined in the source code located in

src/pointcloud_normalizer/src/pointcloud_normalizer_node.cpp

in the variables new_width and new_height .