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Unable to store the depth map in 32FC1 format?

asked 2017-02-23 07:14:21 -0500

Joy16 gravatar image

Hello!

I want to get the depth data from Creative 3d Senz camera. I am not able to store the depth map in its correct format. Please see the snippet below.

  1 #!/usr/bin/env python
  2 
  3 import sys
  4 import cv2
  5 import rospy
  6 from std_msgs.msg import String
  7 from sensor_msgs.msg import Image
  8 from sensor_msgs.msg import PointCloud2
  9 from cv_bridge import CvBridge, CvBridgeError

 10 
 11 class ImgCapture:
 12     def __init__(self):
 13         self.CvImg = CvBridge()
 14         skImg = rospy.Subscriber("/softkinetic_camera/rgb/image_color",Image, self.callbackImg)  
 15         skDep = rospy.Subscriber("/softkinetic_camera/depth/image_raw",Image, self.callbackDepth)
 16 
 17     def callbackImg(self, data):
 18         #print "Processing RGB"
 19         try:
 20               NewImg = self.CvImg.imgmsg_to_cv2(data,"bgr8")
 21               print data.encoding
 22               print
 23               cv2.imwrite("rgb.png", NewImg)
 24         except CvBridgeError as e:
 25               print(e)
 26 
 27     def callbackDepth(self, data):
 28         #print "Depth"
 29         try:
               # THIS LINE GIVES ME THE FOLLOWING ERROR
 30           NewImg = self.CvImg.imgmsg_to_cv2(data,"32FC1")                           
 31           print data.encoding
 32           print
 33           cv2.imwrite("depth.png", NewImg)
 34         except CvBridgeError as e:
 35           print(e)
 36

In the above code snippet, callbackDepth() gives me the following error:

[ERROR] [WallTime: 1487855299.273887] bad callback: <bound method ImgCapture.callbackDepth of <__main__.ImgCapture instance at 0x7fc64712e320>>
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
    cb(msg)
  File "/home/lerrel/ros_ws/src/baxter_examples/scripts/image_capture.py", line 33, in callbackDepth
    cv2.imwrite("depth.png", NewImg)
TypeError: img data type = 14 is not supported

If I change line 30. to 30 NewImg = self.CvImg.imgmsg_to_cv2(data,"passthrough") , here is no error but the image saved is just black with no depth information.

Can you please help me understand what is going wrong here?

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2 Answers

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answered 2017-02-23 07:26:06 -0500

Joy16 gravatar image

updated 2018-12-16 20:14:02 -0500

jayess gravatar image

Okay so here it goes! I followed the solution by @E1000ii given here and it worked

I am copy-pasting my changed code, based on the solution provided above:

def callbackDepth(self, data):
    print "all is well"
    try:
        NewImg = self.CvImg.imgmsg_to_cv2(data, "passthrough")
        depth_array = np.array(NewImg, dtype=np.float32)
        cv2.normalize(depth_array, depth_array, 0, 1, cv2.NORM_MINMAX)
        print data.encoding
        print
        cv2.imwrite("depth.png", depth_array*255)
    except CvBridgeError as e:
        print(e)
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answered 2021-09-09 11:58:16 -0500

lucasw gravatar image

Saving as tif will preserve the 32FC1 floating point values:

cv2.imwrite("depth.tif", NewImg)
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Asked: 2017-02-23 07:14:21 -0500

Seen: 1,494 times

Last updated: Sep 09