Camera info #15
Camera info #15
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Usage example described here. I tried also converting depth camera images but it's not going through correctly 😢 |
| ignition::msgs::PixelFormatType::R_FLOAT32); | ||
| num_channels = 1; | ||
| octets_per_channel = 4u; | ||
| } |
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Currently, RViz shows a black image and RQt seems to show pixels that are closer as darker, but infinity is black:
As reference, on Gazebo 9, RQt and RViz also show the inverse of Gazebo. Note though that the pixel format used on SDF is R8G8B8, like on the kinect, instead of R_FLOAT32, like on ign-gazebo's demos.
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infinity is black
gazebo_ros_pkgs is publishing NaN for values out of bounds, but I don't see NaNs when echoing the topic.
ign-sensors is publishing +-inf as defined by REP 117. But when I echo the bridged ROS topic I don't see any infs.
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If I change ign-sensors to publish NaNs instead of +-inf, RViz shows the image. So I think RViz is not handling the infs properly. I'll ticket an issue there.
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If I change ign-sensors to publish NaNs instead of +-inf, RViz showed the image. So the problem was that RViz was not handling the infs properly. I opened a PR fixing RViz: ros-visualization/rviz#1378
Bridge camera info messages.
I'll update this PR with more instructions on how to test it soon. I need to fix a wrong rotation coming from ign-sensors.