ROS 2: depth_image_proc/point_cloud_xyzi_radial Add intensity convers…

…ion (copy) for float Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Jan 19, 2024 · ebaed94 · ebaed94
1 parent 5645baa
commit ebaed94
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diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -205,6 +205,8 @@ void PointCloudXyziNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == enc::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == enc::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",

diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -145,6 +145,8 @@ void PointCloudXyziRadialNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",