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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(); 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, process(ptrImage->header.seq,
ptrImage->image); ptrImage->image);
} }
@@ -329,7 +329,7 @@ void CoreWrapper::depthCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
@@ -383,7 +383,7 @@ void CoreWrapper::scanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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, process(ptrImage->header.seq,
ptrImage->image, ptrImage->image,
@@ -439,7 +439,7 @@ void CoreWrapper::depthScanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
src/DataRecorderNode.cpp
+5 -5
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@@ -144,7 +144,7 @@ private:
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg) void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg)
{ {
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg); cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image( rtabmap::Image image(
ptrImage->image.clone(), ptrImage->image.clone(),
cv::Mat(), cv::Mat(),
@@ -174,7 +174,7 @@ private:
return; return;
} }
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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
@@ -237,7 +237,7 @@ private:
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
@@ -305,7 +305,7 @@ private:
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg); cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image( rtabmap::Image image(
ptrImage->image.clone(), ptrImage->image.clone(),
@@ -350,7 +350,7 @@ private:
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
src/GuiWrapper.cpp
+3 -3
View File
@@ -494,7 +494,7 @@ void GuiWrapper::depthCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
@@ -535,7 +535,7 @@ void GuiWrapper::scanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); Transform odom = transformFromPoseMsg(odomMsg->pose.pose);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg); cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
rtabmap::Image image( rtabmap::Image image(
ptrImage->image.clone(), ptrImage->image.clone(),
@@ -579,7 +579,7 @@ void GuiWrapper::depthScanCallback(
Transform odom = transformFromPoseMsg(odomMsg->pose.pose); 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); cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/cameraInfoMsg->K[4];
src/nodelets/point_cloud_xyzrgb.cpp
+1 -1
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@@ -90,7 +90,7 @@ private:
if(cloudPub_.getNumSubscribers()) if(cloudPub_.getNumSubscribers())
{ {
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image); cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image, "bgr8");
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth); cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud;