depth_image_proc/point_cloud_xyzi_radial Add intensity conversion (copy) for float

[madsherlock]

This commit enables the generation of xyzi point clouds from 32-bit floating point intensity images.
The destination data type for intensity storage is 32-bit float, so all that is required is a data copy.
The change in this commit is simply an extension of the if-else statement to include the TYPE_32FC1 type and apply the usual convert_intensity() method.

This applies to the depth_image_proc/point_cloud_xyzi_radial and depth_image_proc/point_cloud_xyzi nodelets.

PS: I do have a 3D camera with a manufacturer-supported ROS driver providing me with 32-bit float intensity images.

[k-okada]

can you share your bug fiile so that everyone can share your problem?

…

-- ◉ Kei Okada 2018-05-16 8:40 GMT+09:00 Mikael Westermann <notifications@github.com>:

This commit enables the generation of xyzi point clouds from 32-bit floating point intensity images. The destination data type for intensity storage is 32-bit float, so all that is required is a data copy. The change in this commit is simply an extension of the if-else statement to include the TYPE_32FC1 type and apply the usual convert_intensity() method. This applies to the depth_image_proc/point_cloud_xyzi_radial nodelet. PS: I do have a 3D camera with a manufacturer-supported ROS driver providing me with 32-bit float intensity images. ------------------------------ You can view, comment on, or merge this pull request online at: #336 Commit Summary - Add intensity conversion (copy) for float File Changes - *M* depth_image_proc/src/nodelets/point_cloud_xyzi_radial.cpp <https://github.com/ros-perception/image_pipeline/pull/336/files#diff-0> (4) Patch Links: - https://github.com/ros-perception/image_pipeline/pull/336.patch - https://github.com/ros-perception/image_pipeline/pull/336.diff — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#336>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3Npi2qSLmOIkBU58v0nicOGRzRPNks5ty2dxgaJpZM4UAbvr> .

[madsherlock]

I would love to, but I don't understand your request.

I added a minor feature to the depth processing node.

Do you want to see the error message that would be generated if I tried using the unmodified node on my incompatible data?

[k-okada]

Do you want to see the error message

yes, error message and how the node behavies.

[madsherlock]

I will try and generate such an error later.
In the meantime, I can tell you the error that would be produced in the image callback of the point_cloud_xyzi_radial node:
Intensity image has unsupported encoding [32FC1]
This error would be thrown by a call to NODELET_ERROR_THROTTLE() at a maximum rate of 5 Hz and the image callback would return without publishing a point cloud.

A similar error message would be produced in the image callback of the point_cloud_xyzi node:
Depth image has unsupported encoding [32FC1]
And otherwise the exact same behaviour would be observed.

To produce these error messages, you need the nodes to subscribe to an intensity image with the TYPE_32FC1 data type.

Edit:
Here is a log excerpt from May 16th, right before I found out the feature was missing:
1526423924.533520542 ERROR [/media/data/catkin_ws/src/image_pipeline/depth_image_proc/src/nodelets/point_cloud_xyzi_radial.cpp:250(PointCloudXyziRadialNodelet::imageCb) [topics: /rosout, /ifm3d/camera/cloud_rect, /ifm3d/bond] Intensity image has unsupported encoding [32FC1]

[SteveMacenski]

@JWhitleyAStuff any issue merging this?

[JWhitleyWork]

LGTM! Onward!