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Updated rgbd_mapping_kinect2.launch with latest version of kinect2_bridge

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This commit is contained in:
matlabbe
2015-06-16 19:27:04 -04:00
parent c52c326655
commit 831ec5a1a2
5 changed files with 42 additions and 31 deletions
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src/CoreWrapper.cpp
+7 -2
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@@ -672,7 +672,8 @@ void CoreWrapper::commonDepthCallback(
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
if(!(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) ==0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0) ||
@@ -753,7 +754,11 @@ void CoreWrapper::commonDepthCallback(
}
cv_bridge::CvImageConstPtr ptrImage;
if(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
if(imageMsg, imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
ptrImage = cv_bridge::toCvShare(imageMsg);
}
else if(imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
imageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
ptrImage = cv_bridge::toCvShare(imageMsg, "mono8");
src/GuiWrapper.cpp
+3 -3
View File
@@ -434,7 +434,7 @@ void GuiWrapper::depthCallback(
return;
}
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
image_geometry::PinholeCameraModel model;
@@ -502,7 +502,7 @@ void GuiWrapper::depthOdomInfoCallback(
return;
}
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
image_geometry::PinholeCameraModel model;
@@ -579,7 +579,7 @@ void GuiWrapper::depthScanCallback(
pcl::fromROSMsg(scanOut, pclScan);
cv::Mat scan = util3d::laserScanFromPointCloud(pclScan);
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, "bgr8");
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(imageMsg, imageMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
image_geometry::PinholeCameraModel model;
src/RGBDOdometryNode.cpp
+6 -3
View File
@@ -93,7 +93,8 @@ public:
{
if(!this->isPaused())
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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) ||
@@ -101,7 +102,9 @@ public:
depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0 ||
depth->encoding.compare(sensor_msgs::image_encodings::MONO16)==0))
{
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended) and image_depth=16UC1,32FC1,mono16");
ROS_ERROR("Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 "
"recommended) and image_depth=16UC1,32FC1,mono16. Types detected: %s %s",
image->encoding.c_str(), depth->encoding.c_str());
return;
}
else if(depth->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)==0)
@@ -142,7 +145,7 @@ public:
float fy = model.fy();
float cx = model.cx();
float cy = model.cy();
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, "mono8");
cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depth);
rtabmap::SensorData data(
src/nodelets/point_cloud_xyzrgb.cpp
+2 -1
View File
@@ -156,7 +156,8 @@ private:
const sensor_msgs::ImageConstPtr& imageDepth,
const sensor_msgs::CameraInfoConstPtr& cameraInfo)
{
if(!(image->encoding.compare(sensor_msgs::image_encodings::MONO8) ==0 ||
if(!(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) ==0 ||
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) &&