Add depth_correction_enable param

Defaults to false.

Author: efernandez

src/sc.cpp

@@ -105,7 +105,7 @@ 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);
+				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 +123,7 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
                 }
                 if(sample.depthFrame.isValid())
                 {
-                	handleDepth(sample.depthFrame);
+					handleDepth(sample.depthFrame);
                 }
                 if(sample.infraredFrame.isValid())
                 {
@@ -351,6 +351,8 @@ class SCNode
 
 	bool imu_enable_;
 
+	bool depth_correction_enable_;
+
 	SessionDelegate *delegate_ = nullptr;
 	ST::CaptureSessionSettings sessionConfig_;
 	ST::CaptureSession captureSession_;
@@ -374,6 +376,9 @@ 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);
@@ -393,6 +398,7 @@ class SCNode
 
 		sessionConfig_.source = ST::CaptureSessionSourceId::StructureCore;
 		sessionConfig_.structureCore = scConfig;
+		sessionConfig_.applyExpensiveCorrection = depth_correction_enable_;
 
 		delegate_ = new SessionDelegate(nh_, frame_id, sessionConfig_);
 		captureSession_.setDelegate(delegate_);