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I'm looking for a simple way to display a stereo_msgs/DisparityImage topic using mjpeg_server, which needs images in the sensor_msgs/Image format. I'm getting the disparity image from a Kinect thorough the openNI package.
Is there a simple way to convert the disparity image to a flat image, or will I have to write up a custom process to handle the conversion?
The stereo_msgs/Disparity Image topic contains a sensor_msgs/Image which you can easily pull out and convert to a 8 bit sensor_msgs/Image using some simple OpenCV operations.
You could imagine something like this:
void disparityCallback(const stereo_msgs::DisparityImagePtr disparity)
{
cv::Mat_<float> disparityMat(disparity->image.height,
disparity->image.width,
reinterpret_cast<float*>(&(disparity->image.data[0])));
cv::Mat_<uint8_t> eightBitDisparityMat = disparityMat * (255/disparity->max_disparity);
sensor_msgs::Image eightBitDisparity;
uint32_t imageSize = disparity->image.height * disparity->image.width;
eightBitDisparity.data.resize(imageSize);
memcpy(&eightBitDisparity.data[0], &(eightBitDisparityMat.at<uint8_t>(0,0)), imageSize);
// Populate the rest of the sensor_msgs::Image fields
}
Asked: 2014-03-29 18:38:09 -0500
Seen: 1,239 times
Last updated: Nov 30 '14
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Hi, have you work it out? I have the same question
Not yet! I've been distracted by other things to work on, but I'll get back to that soon and post once I have a solution!
@nckswt any solution yet?
I ended up finding a workaround to my problem instead, without having to display the
DisparityImage. Sorry, no solution found!