depth_image_proc for TYPE_8UC1 stereo images
Hi there,
I found this cool package to process a disparity map, I got from a stereo camera pair, and compute a point_cloud: https://github.com/ros-perception/ima...
Here is my problem: The stereo pair has its own FPGA and readily outputs a disparity map of type sensor_msgs::Image with image encoding MONO8. I would like to use the above package, in particular this nodelet https://github.com/ros-perception/ima... , to compute a sensor_msgs:PoitCloud2 message from that. However the package only provides templates for image encodings: TYPE_16UC1 or TYPE_32FC1 (as mentioned in Line 117 and 121 of the nodelet).
I found a way to convert from MONO8 to TYPE_16UC1 so I can use the above nodelet, however I do not think this is a very elegant or efficient solution. I would rather add the possibility to process TYPE_8UC1 images with the nodelet (Conversion from MONO8 to 8UC1 should be less expensive, right?). I think I have to add a template for "uint8_t" in this file https://github.com/ros-perception/ima...
Unfortunately, I have a very poor understanding of image encodings etc. and I am not sure what exactly I would need to add. Could somebody give me a hint on how to do that, or point me to some recourses, where I could find out? Or do you have better suggestions to solve my problem?
I am using ROS Indigo on Ubuntu 14.04
Really appreciate your answers :)
