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Constructing a float32 value from four uint8 bytes

asked 2016-07-25 14:09:26 -0600

skr_robo gravatar image

updated 2016-07-25 14:10:46 -0600

I am trying to read depth values from the topic /camera/depth/image_rect_color. The message is of the type sensor_msgs/Image and prints out 8 bit data (uint8) as elements of an image array. Since the image is encoded as 32FC1, I need to combine four of these elements to obtain depth information of a single pixel. A stack overflow answer contains the following code:

float f;
uchar b[] = {b3, b2, b1, b0};
memcpy(&f, &b, sizeof(f));
return f;

Is this the right approach to construct a float32 value from 4 bytes of uint8 values, without any data loss ?

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answered 2016-07-25 15:10:14 -0600

ahendrix gravatar image

Instead of trying to do that conversion by hand for each pixel, I recommend that you use the cv_bridge package to convert your sensor_msgs/Image into a cv::Mat, which should be easier to use. The cv_bridge tutorial is probably a good place to start, but obviously you'll need to change the image encoding parameters.

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My intention is to find out any obstacle within 5m of a zed stereo camera. The data is basically depth value. I am planning to avoid using openCV. Is there any reference for data conversion by hand? I wouldn't mind writing additional lines of code for that.

skr_robo gravatar imageskr_robo ( 2016-07-25 15:24:55 -0600 )edit

The canonical reference is the implementation of the sensor_msgs/Image to cv::Mat conversion function that's underneath all of the cv_bridge conversions: https://github.com/ros-perception/vis...

ahendrix gravatar imageahendrix ( 2016-07-25 16:18:25 -0600 )edit

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Asked: 2016-07-25 14:09:26 -0600

Seen: 341 times

Last updated: Jul 25 '16