empty frame_id when converting sensor_msgs/PointCloud2 to sensor_msgs/Image
Hi,
I am using iai_kinect2(ROS Indigo and Ubuntu 14.04) to get a depth cloud from my Kinect2 in the form sensor_msgs/Image. Then, it is converted to sensor_msgs/PointCloud2 using depth_image_proc to do all the filtering operations using pcl. Finally, I want to convert the filtered point_cloud back to sensor_msgs/Image and for that, I am using pcl_ros/CloudToImage to get sensor_msgs/Image (on topic /kinect2/filtered_image). It compiled properly but during run time, when I try to visualize it in RVIZ, I get the following :
MessageFilter [target=kinect2_link ]: Discarding message from [unknown_publisher] due to empty frame_id. This message will only print once.
When I do rostopic echo /kinect2/filtered_image, I get:
header:
seq: 2139
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 1
width: 68227
encoding: bgr8
is_bigendian: 0
step: 204681
data: [0, 0, 181, 209, 216, 179, 207, 214, 179, 207, 214, 0, 0, 0, 175, 204, 211, 176, 205, 212, 176, 205, 210, 177, 206, 211, 0, 0, 0, 0, 0, 0, 179, 207, 214, 179, 208, 215, 181, 210, 217, 0, 0, 0, 178, 207, 214, 179, 208, 215, 180, 209, 216, 175, 204, 209, 175, 205, 210, 174, 203, 210, 0, 0, 0, 174, 203, 210, 175, 204, 211, 174, 203, 210, 176, 204, 211, 177, 205, 212, 0, 0, 0, 178, 207, 212, 180, 209, 214, 178, 206, 213, 179, 208, 215, 177, 209, 215, 0, 0, 0, 0, 0, 0, 0, 0, 0, 180, 209, 216, 174, 203, 208, 174, 203, 208, 176, 205, 210, 174, 203, 208, 175, 204, 209, 175, 205, 210, 175, 205, 210, 175, 204, 211, 175, 204, 211, 173, 205, 211, 172, 204, 210, 173, 205, 211, 173, 205, 211, 176, 205, 212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 179, 208, 215, 171, 203, 209, ....... ]
It looks like there is some problem here. It does not have any time stamp or frame_id. Also, the encoding is bgr8, shouldn't it be 16UC1?
EDIT :
As suggested in the answer, after copying the header from the input point cloud into the image and then if I visualize the published image in RVIZ, I get the following issue and RVIZ shuts down :
[ WARN] [1451938112.487114384]: OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture surface on texture ROSImageTexture0 face 0 mipmap 0. Probably, the GL driver refused to create the texture. in GLTexture::_createSurfaceList at /build/buildd/ogre-1.8-1.8.1+dfsg/RenderSystems/GL/src/OgreGLTexture.cpp (line 420)
Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.
terminate called after throwing an instance of 'Ogre::RenderingAPIException'
what(): OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture surface on texture ROSImageTexture0 face 0 mipmap 0. Probably, the GL driver refused to create the texture. in GLTexture::_createSurfaceList at /build/buildd/ogre-1.8-1.8.1 ...
