apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
src/ros/CameraROS.cpp
View File

@ -108,23 +108,26 @@ void CameraROS::imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg)
{ {
if(msg->data.size()) if(msg->data.size())
{ {
cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvShare(msg); cv::Mat image;
if(msg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0) 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 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; 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());
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());
} }
} }
} }