From 032350b7a6ff98a529d497072286f4b6937ab8e4 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 23 Jul 2015 18:56:48 +0200
Subject: [PATCH] 3dsensor: reduce depth resolution

---
 cfg/razor.yaml         | 4 ++--
 launch/3dsensor.launch | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 0fc0ea8..f32be31 100644
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [310.164, 110.637, -618.788]
-magn_ellipsoid_transform: [[0.945780, 0.0107359, 0.0132698], [0.0107359, 0.947108, 0.0240015], [0.0132698, 0.0240015, 0.982784]]
+magn_ellipsoid_center: [314.663, 115.689, -632.692]
+magn_ellipsoid_transform: [[0.937505, 0.0217526, 0.0102850], [0.0217526, 0.936649, 0.0279058], [0.0102850, 0.0279058, 0.980535]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 61f622a..b2e884f 100644
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -10,4 +10,6 @@
 		<remap from="/camera/image" to="/camera/depth/image"/>
 		<remap from="/camera/scan" to="/scan"/>
 	</node>
+
+	<node pkg="dynamic_reconfigure" type="dynparam" name="reconfig" output="screen" args="set /camera/driver depth_mode 11" />
 </launch>
-- 
2.39.2