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For all input images, cvBridge encoding set to "bgr8"

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1562 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 20:53:04 +00:00
parent b8219cfed6
commit 0ff26fc13e
4 changed files with 13 additions and 13 deletions
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src/CoreWrapper.cpp
+4 -4
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@@ -290,7 +290,7 @@ void CoreWrapper::defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg)
}
time_ = ros::Time::now();
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
process(ptrImage->header.seq,
ptrImage->image);
}
@@ -329,7 +329,7 @@ void CoreWrapper::depthCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4];
@@ -383,7 +383,7 @@ void CoreWrapper::scanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
process(ptrImage->header.seq,
ptrImage->image,
@@ -439,7 +439,7 @@ void CoreWrapper::depthScanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4];