From 2dd1858d2215695686c12d4c1d7b4241cce9d0c6 Mon Sep 17 00:00:00 2001
From: Angel Santamaria-Navarro <asantamaria@iri.upc.edu>
Date: Fri, 23 Feb 2018 12:47:10 +0100
Subject: [PATCH] FIX: CV_bridge image encodings. cv_bridge does not support
OpenCV formats, thus convertion is now done in the driver.
---
src/mvbluefox3_camera_driver.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/mvbluefox3_camera_driver.cpp b/src/mvbluefox3_camera_driver.cpp
index b79f8a2..eaedd59 100644
--- a/src/mvbluefox3_camera_driver.cpp
+++ b/src/mvbluefox3_camera_driver.cpp
@@ -302,10 +302,10 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
encoding = "8UC1";
switch (bp)
{
- case 1: encoding = "8UC1"; break;
+ case 1: encoding = "mono8"; break; // FIX: Should be 8UC1 but changed because cv_bridge cannot convert formats
case 2: encoding = "8UC2"; break;
- case 3: encoding = "8UC3"; break;
- case 4: encoding = "8UC4"; break;
+ case 3: encoding = "rgb8"; break; // FIX: Should be 8UC3 but changed because cv_bridge cannot convert formats
+ case 4: encoding = "rgba8"; break; // FIX: Should be 8UC4 but changed because cv_bridge cannot convert formats
default: ROS_WARN("Invalid depth. Depth not implemented here."); break;
}
}
@@ -314,7 +314,7 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
encoding = "16UC1";
switch (bp)
{
- case 1: encoding = "16UC1"; break;
+ case 1: encoding = "mono16"; break; // FIX: Should be 16UC1 but changed because cv_bridge cannot convert formats
case 2: encoding = "16UC2"; break;
case 3: encoding = "16UC3"; break;
case 4: encoding = "16UC4"; break;
--
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