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fixing depth compression

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This commit is contained in:
matlabbe
2025-08-13 12:38:25 -07:00
parent 0243f58a8b
commit 5415a1b41a
1 changed files with 27 additions and 12 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+27 -12
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@@ -274,11 +274,17 @@ void rgbdImageToROS(const rtabmap::SensorData & data,
data.depthOrRightRaw().type()==CV_8UC3?sensor_msgs::image_encodings::BGR8:
data.depthOrRightRaw().type()==CV_16UC1?sensor_msgs::image_encodings::TYPE_16UC1:
sensor_msgs::image_encodings::TYPE_32FC1;
if(compressImages) {
cvDepth.toCompressedImageMsg(msg.depth_compressed,
data.depthOrRightRaw().type()!=CV_16UC1 &&
data.depthOrRightRaw().type()!=CV_32FC1 &&
compressionFormat == ".jpg"?cv_bridge::JPG:cv_bridge::PNG);
if(compressImages){
if(cvDepth.encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
cvDepth.encoding == sensor_msgs::image_encodings::TYPE_32FC1)
{
msg.depth_compressed.data = rtabmap::compressImage(cvDepth.image, ".png");
msg.depth_compressed.format = "png";
}
else
{
cvDepth.toCompressedImageMsg(msg.depth_compressed, compressionFormat == ".jpg"?cv_bridge::JPG:cv_bridge::PNG);
}
}
else {
cvDepth.toImageMsg(msg.depth);
@@ -519,14 +525,23 @@ void rgbdImagesToROS(const rtabmap::SensorData & data,
{
cvDepthORRight.image = cv::Mat(data.depthOrRightRaw(), cv::Range::all(), cv::Range(0,subDepthWidth));
cvDepthORRight.header = headers[i];
if(compressImages) {
cvDepthORRight.toCompressedImageMsg(msg.rgbd_images[i].depth_compressed,
data.depthOrRightRaw().type()!=CV_16UC1 &&
data.depthOrRightRaw().type()!=CV_32FC1 &&
compressionFormat == ".jpg"?cv_bridge::JPG:cv_bridge::PNG);
if (compressImages)
{
if (cvDepthORRight.encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
cvDepthORRight.encoding == sensor_msgs::image_encodings::TYPE_32FC1)
{
msg.rgbd_images[i].depth_compressed.data = rtabmap::compressImage(cvDepthORRight.image, ".png");
msg.rgbd_images[i].depth_compressed.format = "png";
}
else
{
cvDepthORRight.toCompressedImageMsg(msg.rgbd_images[i].depth_compressed, compressionFormat == ".jpg" ? cv_bridge::JPG : cv_bridge::PNG);
}
}
else {
else
{
cvDepthORRight.toImageMsg(msg.rgbd_images[i].depth);
}
}