From 9d0bd75c7758abdd1e46a7df5a0e305044f21613 Mon Sep 17 00:00:00 2001 From: Aaron Ray Date: Thu, 15 Aug 2024 13:11:52 +0000 Subject: [PATCH 1/2] Add support for rgba8 --- src/RosDataProviderInterface.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/RosDataProviderInterface.cpp b/src/RosDataProviderInterface.cpp index 7f74a2fa..09df50d2 100644 --- a/src/RosDataProviderInterface.cpp +++ b/src/RosDataProviderInterface.cpp @@ -73,6 +73,11 @@ const cv::Mat RosDataProviderInterface::readRosImage( VLOG_EVERY_N(1, 10) << "Converting image..."; cv::cvtColor(img_const, converted_img, cv::COLOR_RGB2GRAY); return converted_img; + } else if (img_msg->encoding == sensor_msgs::image_encodings::RGBA8) { + VLOG_EVERY_N(1, 10) << "Converting image..."; + cv::cvtColor(img_const, converted_img, cv::COLOR_RGBA2GRAY); + cv::imwrite("/home/ubuntu/debug.png", converted_img); + return converted_img; } else if (img_msg->encoding == sensor_msgs::image_encodings::BGRA8) { VLOG_EVERY_N(1, 10) << "Converting image..."; cv::cvtColor(img_const, converted_img, cv::COLOR_BGRA2GRAY); From a15b8f617634e80f11fb0715c590645dfd2f7c6a Mon Sep 17 00:00:00 2001 From: Aaron Ray Date: Thu, 15 Aug 2024 13:13:29 +0000 Subject: [PATCH 2/2] fixup --- src/RosDataProviderInterface.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/RosDataProviderInterface.cpp b/src/RosDataProviderInterface.cpp index 09df50d2..71343625 100644 --- a/src/RosDataProviderInterface.cpp +++ b/src/RosDataProviderInterface.cpp @@ -76,7 +76,6 @@ const cv::Mat RosDataProviderInterface::readRosImage( } else if (img_msg->encoding == sensor_msgs::image_encodings::RGBA8) { VLOG_EVERY_N(1, 10) << "Converting image..."; cv::cvtColor(img_const, converted_img, cv::COLOR_RGBA2GRAY); - cv::imwrite("/home/ubuntu/debug.png", converted_img); return converted_img; } else if (img_msg->encoding == sensor_msgs::image_encodings::BGRA8) { VLOG_EVERY_N(1, 10) << "Converting image...";