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Updated rgbd_mapping_kinect2.launch with latest version of kinect2_bridge

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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");