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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/GuiWrapper.cpp
+3 -3
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@@ -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;