depth_image_proc: fix support for mono16 intensity encoding in point_cloud_xyzi node

[SJamieson]

There is a conditional that previously would always evaluate to true, regardless of the inputs. Fixes #353

[JWhitleyWork]

@SJamieson - Thank you for the PR! I know it's a bit old, but would you mind changing your base for the PR to melodic and rebasing on that branch?

[SteveMacenski]

@JWhitleyAStuff is this good to go?

[JWhitleyWork]

All good for me!

[JWhitleyWork]

I just realized that this is still using the old CI. @SJamieson - Can you please rebase your branch (or merge) on melodic so you get the new CI? I want to make sure it passes.

[SteveMacenski]

@JWhitleyAStuff its targeted to melodic and its a 1 line change with a logical operator, I think we can just merge it.

[JWhitleyWork]

True. CI won't tell us much.

[SteveMacenski]

Done

[JWhitleyWork]

Sorry, @SteveMacenski - it wouldn't let me merge it on my phone.

[SteveMacenski]

No worries :-)

[juniorschen]

@SteveMacenski One of the most used versions is still kinetic, really sad for not having been merged into this one too

[SteveMacenski]

Frankly, Kinetic is so old I would want to avoid any updates to Kinetic for fears that it could break the existing binaries in more serious ways. I don't even have a 16.04 machine (or even an 18.04 machine anymore for that fact).

[SJamieson]

My apologies @SteveMacenski and @JWhitleyWork, I don't know why I didn't get notified of your earlier messages but I'm happy and thankful to see that it worked out :)

[juniorschen]

@SteveMacenski
I understand how difficult it must be to continue supporting the legacy after so long, but it is I had so many problems with melodic, kinecti has always worked so well, but thanks for the quick response, I will do the local build to use

[juniorschen]

@SteveMacenski
Could you tell me how buiild works? is there a branch for kinetic release?

[JWhitleyWork]

@juniorschen @SteveMacenski No longer maintains this repository - I have taken over as the primary maintainer. Regarding Kinetic, yes, there is a kinetic branch. However, given that kinetic will be EOL in 5 months, we are only accepting bug fixes for this distribution, and only those that do not change the API. I highly recommend you move to melodic or noetic (which will be the final ROS1 release).

[juniorschen]

@JWhitleyWork
Ok, I followed the recommendation and everything worked well, thank you very much for the quick answers, by the way I'm doing a project, I would like to understand better from what concept the image_pipeline algorithms work, do you have any articles about? I am mainly interested in converting point_cloud to laser

[JWhitleyWork]

Do you mean sensor_msgs/PointCloud2 to sensor_msgs/LaserScan? If so, this is not something that image_pipeline does as that conversion does not involve any images.

[juniorschen]

@JWhitleyWork
Oh yes, I am using depth_img_proc to get the cloud, by sequence I transformed it into a laser, I wanted to know what foundation or technique was used for the cloud algorithm, so I asked if you have any type of article

[JWhitleyWork]

I'm sorry but I can't help. This is probably best handled on ROS Answers.