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ros: added mono16 supported image input

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1586 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-22 19:00:06 +00:00
parent 2fbd147305
commit 5ac64bd223
3 changed files with 86 additions and 7 deletions
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src/nodelets/point_cloud_xyzrgb.cpp
+2 -1
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@@ -79,12 +79,13 @@ private:
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
image->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) &&
(imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 ||
imageDepth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0))
{
ROS_ERROR("Input type must be image=mono8,rgb8,bgr8 and image_depth=32FC1,16UC1");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 and image_depth=32FC1,16UC1");
return;
}