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Updated Info msg: changed localLoopClosureId for proximityDetectionId. point_cloud_xyzrgb nodelet: handling bgr and rgb encoding. Updated demo_find_object.launch with 0.11. MapsManager: Fixed grids generated with only one point.

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This commit is contained in:
matlabbe
2016-03-11 20:16:52 -05:00
parent f0d91c5eac
commit f26c8b55eb
7 changed files with 75 additions and 30 deletions
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src/nodelets/point_cloud_xyzrgb.cpp
+15 -1
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@@ -173,7 +173,21 @@ private:
if(cloudPub_.getNumSubscribers())
{
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
cv_bridge::CvImageConstPtr imagePtr;
if(image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0)
{
imagePtr = cv_bridge::toCvShare(image);
}
else if(image->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
image->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
imagePtr = cv_bridge::toCvShare(image, "mono8");
}
else
{
imagePtr = cv_bridge::toCvShare(image, "bgr8");
}
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
image_geometry::PinholeCameraModel model;