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Fixed rgbd_image/scan_descriptor not subscribing at the same time. point_cloud_xyzrgb: added RGBA8 encoding support for stereo images.

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matlabbe
2021-10-06 09:59:15 -04:00
parent 06c29333bd
commit 6ac2dcd918
2 changed files with 15 additions and 4 deletions
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src/nodelets/point_cloud_xyzrgb.cpp
+7 -3
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@@ -390,13 +390,17 @@ private:
if(!(imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageLeft->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0) ||
!(imageRight->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0))
imageRight->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::BGRA8) == 0 ||
imageRight->encoding.compare(sensor_msgs::image_encodings::RGBA8) == 0))
{
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (enc=%s)", imageLeft->encoding.c_str());
NODELET_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8,rgba8,bgra8 (enc=%s)", imageLeft->encoding.c_str());
return;
}