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CameraROS: making image conversion more general to support more formats than bgr8 and rgb8 (#69).

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This commit is contained in:
matlabbe 2018-10-10 17:01:33 -04:00
parent 784691a070
commit b4d9bfc468
1 changed files with 16 additions and 13 deletions
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29
src/ros/CameraROS.cpp
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@ -108,23 +108,26 @@ void CameraROS::imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg)
{
if(msg->data.size())
{
cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvShare(msg);
if(msg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0)
cv::Mat image;
cv_bridge::CvImageConstPtr imgPtr = cv_bridge::toCvShare(msg);
try
{
cv::Mat cpy = ptr->image.clone();
if(msg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
msg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
image = cv_bridge::cvtColor(imgPtr, "mono8")->image;
}
else
{
image = cv_bridge::cvtColor(imgPtr, "bgr8")->image;
}
Q_EMIT rosDataReceived(msg->header.frame_id, msg->header.stamp, cv::Mat(), 0.0f);
Q_EMIT imageReceived(cpy);
Q_EMIT imageReceived(image);
}
else if(msg->encoding.compare(sensor_msgs::image_encodings::RGB8) == 0)
catch(const cv_bridge::Exception & e)
{
cv::Mat bgr;
cv::cvtColor(ptr->image, bgr, cv::COLOR_RGB2BGR);
Q_EMIT rosDataReceived(msg->header.frame_id, msg->header.stamp, cv::Mat(), 0.0f);
Q_EMIT imageReceived(bgr);
}
else
{
ROS_ERROR("find_object_ros: Encoding \"%s\" detected. Supported image encodings are bgr8 and rgb8...", msg->encoding.c_str());
ROS_ERROR("find_object_ros: Could not convert input image to mono8 or bgr8 format, encoding detected is %s... cv_bridge exception: %s", msg->encoding.c_str(), e.what());
}
}
}