Fixed image types in depth_image_proc

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
ros-perception · Jan 24, 2024 · 994543e · 994543e
1 parent 0da04cb
commit 994543e
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diff --git a/depth_image_proc/src/point_cloud_xyzrgb.cpp b/depth_image_proc/src/point_cloud_xyzrgb.cpp
@@ -267,6 +267,10 @@ void PointCloudXyzrgbNode::imageCb(
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGR8) {
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+ } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGRA8) {
+ convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+ } else if (rgb_msg->encoding == sensor_msgs::image_encodings::RGBA8) {
+ convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::MONO8) {
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else {

diff --git a/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp b/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
@@ -265,6 +265,10 @@ void PointCloudXyzrgbRadialNode::imageCb(
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGR8) {
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+ } else if (rgb_msg->encoding == sensor_msgs::image_encodings::BGRA8) {
+ convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
+ } else if (rgb_msg->encoding == sensor_msgs::image_encodings::RGBA8) {
+ convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else if (rgb_msg->encoding == sensor_msgs::image_encodings::MONO8) {
  convertRgb(rgb_msg, cloud_msg, red_offset, green_offset, blue_offset, color_step);
  } else {