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**[ MikeHallettUK ](/MikeHallettUK) ** commented  Jun 28, 2022


648  cv::applyColorMap(img_scaled->image, img_scaled->image, options. [
colormap
](structcv__bridge_1_1CvtColorForDisplayOptions.html#ac9997c80cc25010e95cee3c96f5a8f4d)
);


I am using Python .. eg


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325  // Same number of channels, but different bit depth


533  default  :


234  if  (val == CONVERSION_CODES.end())


Pick a username


Sorry, something went wrong.


    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg


[ monajalal ](/monajalal) opened this issue  Nov 10, 2023  · 4 comments


409  return  [ toCvShare
](namespacecv__bridge.html#aafa38a1d9be98d9efaefe45fd873133c) (*source,
source, encoding);


Collaborator


454  return  "jpeg"  ;


June 20, 2016, 12:55 am


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Hi guys, I'm quite new in ROS and I would like to know a general opinion about
which one would you use, or which are you using nowadays and why. I would like
to use a KINECT to do a SLAM and try to subscribe to topics related with the
measured depth. Thanks everyone.


We read every piece of feedback, and take your input very seriously.


Assignees


696  }


484  if  (encoding == enc::BGR8 || encoding == enc::BGRA8)


Jump to bottom


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Copy link


288  fromTo.push_back(byte_depth*i + j);


684  // If no conversion is needed, don't convert


407  const  std::string& encoding)


Thanks.


343  }


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253  int  num_channels = enc::numChannels(source.encoding);


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652  for  (  size_t  i = 0; i < source->image.cols; ++i) {


482  ros_image.header = [ header
](classcv__bridge_1_1CvImage.html#ada0ff87a844dbd6f25a87bf2fee5742f) ;


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565  {


Thank you! I see the ordered pointcloud in the original topics listed before
now. However, when I run the rs_camera.launch file you suggest, I don't see
that topic despite indicating that ordered_pc:=true


when I first open rviz I see this:


676  source_typed->encoding = enc::BGR8;


     * /camera1/realsense2_camera/fisheye_fps: 30
     * /camera1/realsense2_camera/fisheye_height: 480
     * /camera1/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
     * /camera1/realsense2_camera/fisheye_width: 640
     * /camera1/realsense2_camera/gyro_fps: 1000
     * /camera1/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
     * /camera1/realsense2_camera/infra1_fps: 30
     * /camera1/realsense2_camera/infra1_height: 480
     * /camera1/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
     * /camera1/realsense2_camera/infra1_width: 640
     * /camera1/realsense2_camera/infra2_fps: 30
     * /camera1/realsense2_camera/infra2_height: 480
     * /camera1/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
     * /camera1/realsense2_camera/infra2_width: 640
     * /camera1/realsense2_camera/json_file_path:
     * /camera1/realsense2_camera/serial_no: 805212060147
     * /camera2/realsense2_camera/accel_fps: 1000
     * /camera2/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
     * /camera2/realsense2_camera/align_depth: False
     * /camera2/realsense2_camera/camera_aligned_depth_to_color_frame_id: camera_aligned_de...
     * /camera2/realsense2_camera/camera_aligned_depth_to_fisheye_frame_id: camera_aligned_de...
     * /camera2/realsense2_camera/camera_aligned_depth_to_infra1_frame_id: camera_aligned_de...
     * /camera2/realsense2_camera/camera_aligned_depth_to_infra2_frame_id: camera_aligned_de...
     * /camera2/realsense2_camera/color_fps: 30
     * /camera2/realsense2_camera/color_height: 480
     * /camera2/realsense2_camera/color_optical_frame_id: camera_color_opti...
     * /camera2/realsense2_camera/color_width: 640
     * /camera2/realsense2_camera/depth_fps: 30
     * /camera2/realsense2_camera/depth_height: 480
     * /camera2/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
     * /camera2/realsense2_camera/depth_width: 640
     * /camera2/realsense2_camera/enable_color: True
     * /camera2/realsense2_camera/enable_depth: True
     * /camera2/realsense2_camera/enable_fisheye: True
     * /camera2/realsense2_camera/enable_imu: True
     * /camera2/realsense2_camera/enable_infra1: True
     * /camera2/realsense2_camera/enable_infra2: True
     * /camera2/realsense2_camera/enable_pointcloud: False
     * /camera2/realsense2_camera/enable_sync: False
     * /camera2/realsense2_camera/fisheye_fps: 30


    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond


503  std::string format = [ getFormat
](namespacecv__bridge.html#a4efa938de96a8e11269645d8a8fa6f72) (dst_format);


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since this line of script ` cv_image = self.bridge.imgmsg_to_cv2(msg,"16UC1")
` uses ` 16UC1 ` I am concerned this error is causing problem.


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260  throw  [ Exception ](classcv__bridge_1_1Exception.html) (ss.str());


Milestone


Convert an immutable sensor_msgs::Image message to an OpenCV-compatible
CvImage, sharing the image da...


581  {


Author


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boost::shared_ptr< CvImage > CvImagePtr


105  }


April 4, 2016, 4:20 am


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32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE


283  std::vector<int> fromTo;


216  throw  [ Exception ](classcv__bridge_1_1Exception.html) (  "["  \+
src_encoding +  "] and ["  \+ dst_encoding +  "] do not have the same number
of channel"  );


506  }


##  Use saved searches to filter your results more quickly


[ cv_bridge::CvtColorForDisplayOptions::min_image_value
](structcv__bridge_1_1CvtColorForDisplayOptions.html#ada340f931aabaff069d2d9585cc2186e)


48  #include < [ cv_bridge/cv_bridge.h ](cv__bridge_8h.html) >


402  return  toCvCopyImpl(matFromImage(source), source.header,
source.encoding, encoding);


    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth


599  if  (label == options. [ bg_label
](structcv__bridge_1_1CvtColorForDisplayOptions.html#af63c51bcb42b0de9293576e567ed414c)
) {  // background label


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**Definition:** [ cv_bridge.cpp:538 ](cv__bridge_8cpp_source.html#l00538)


554  if  (enc::numChannels(source->encoding) == 1)


603  {


**Definition:** [ cv_bridge.h:66 ](cv__bridge_8h_source.html#l00066)


**Definition:** [ cv_bridge.h:65 ](cv__bridge_8h_source.html#l00065)


20  * from this software without specific prior written permission.


516  {


300  [ CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html)
toCvCopyImpl(  const  cv::Mat& source,


Password


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144  std::map<std::pair<Encoding, Encoding>, std::vector<int> > res;


593  result->header = source->header;


297  }


[ 509 ](namespacecv__bridge.html#a951356ef916dc550d1efa445e26eb3f5) [
CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) [
toCvCopy ](namespacecv__bridge.html#acbf2da402f4d3e505613e95b5a2aed35) (
const  sensor_msgs::CompressedImageConstPtr& source,


#  [ subscribing rgb and depth simutaneously very slow
](//question2135.rssing.com/chan-36145539/article69-live.html)


Closed


268  throw  [ Exception ](classcv__bridge_1_1Exception.html) (ss.str());


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**Definition:** [ cv_bridge.cpp:392 ](cv__bridge_8cpp_source.html#l00392)


244  }


#  [ rviz does not display the depth cloud
](//question2135.rssing.com/chan-36145539/article67-live.html)


    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /rosout
    /rosout
    /camera/depth/camera_info
    /camera/depth/camera_info
    /rosout_agg
    /rosout_agg
    /camera/depth/camera_info
    /camera/depth/camera_info
    /rosout_agg
    /rosout_agg


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[ depth-color align from remote device using ROS  IntelRealSense/realsense-
ros#2454  ](/IntelRealSense/realsense-ros/issues/2454)


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180  res[std::make_pair(BAYER_RGGB, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_BayerBG2GRAY);


373  if  ( [ image
](classcv__bridge_1_1CvImage.html#a8b0cc1c26637754fbccb91b4fc086526)
.isContinuous())


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399  const  std::string& encoding)


[ cv_bridge::JP2
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfa5708345c1b3ef1aad7b58afbc740116e)


**Definition:** [ cv_bridge.h:250 ](cv__bridge_8h_source.html#l00250)


430  const  std::string& encoding)


117  enum  Encoding { INVALID = -1, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
= 0, RGB, BGR, RGBA, BGRA, [ YUV422
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html#a4cd4806e2221b58787bf6fa643ccf60d)
, BAYER_RGGB, BAYER_BGGR, BAYER_GBRG, BAYER_GRBG};


[ Copy Share URL ](javascript:;)


` roslaunch realsense2_camera rs_rgbd.launch `


221  // to the number of channels


113  }


Thanks for your help.


594  result->encoding = [ encoding
](classcv__bridge_1_1CvImage.html#ac3e39d95b3691df0b08496267517f2db) ;


536  }


New issue


[ image_encodings.h
](../../../../api/sensor_msgs/html/image__encodings_8h.html)


The issue of decimation not working when align_depth is enabled is discussed
at [ IntelRealSense/realsense-ros#2269
](https://github.com/IntelRealSense/realsense-ros/issues/2269)

---

All reactions


619  [ CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) result(
new  [ CvImage
](classcv__bridge_1_1CvImage.html#adcb3774384cd81c101f3c9beedede4e7) ());


185  res[std::make_pair(BAYER_BGGR, RGB)].push_back(cv::COLOR_BayerRG2RGB);


[ ros  ](/IntelRealSense/librealsense/labels/ros)


340  {


**Have a question about this project?** Sign up for a free GitHub account to
open an issue and contact its maintainers and the community.


All reactions


466  return  "ppm"  ;


Hi, I want to publish disparity from the depth topic of type sensor_msgs/Image
and the camera info topic of type sensor_msgs/CameraInfo, using the nodelet
depth_image_proc/disparity. I want then to save it in a png file. When I
launch the nodelet depth_image_proc/disparity and the disparity_view, I got
only an empty window. Here is the launch file:  The depth and the camera info
are good. Any idea why I don't see anything in the disparity_view? I want to
save the disparity in a png file and use it with opencv in python. Thanks!


363  {


181  res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::COLOR_BayerBG2RGB);


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642  cv::Mat(source->image-min_image_value).convertTo(img_scaled->image,
CV_8UC1, 255.0 /


164  res[std::make_pair(RGBA, RGB)].push_back(cv::COLOR_RGBA2RGB);


I am subscribing the rgb and depth images published by openni_launch at the
same time. However, my problem becomes very slow and can only run at 15Hz. How
to solve the problem?


359  return  ptr;


346  ptr->image = image2;


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yes, "/camera/depth/color/points" is ordered ... and depth may be aligned...


440  [ toCompressedImageMsg
](classcv__bridge_1_1CvImage.html#abeb18e0ed2af0adaf67daa6b93cb6a32)
(*ptr,dst_format);


April 9, 2024, 4:00 pm


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272  cv::Mat mat(source.height, source.width, source_type,
const_cast<uchar*>(&source.data[0]), source.step);


267  source.step << " != "  << source.data.size();


**Definition:** [ cv_bridge.cpp:429 ](cv__bridge_8cpp_source.html#l00429)


May I ask which version of the ROS wrapper you are using, please? The
developer of the ROS1 wrapper states at [ IntelRealSense/realsense-ros#1886
(comment) ](https://github.com/IntelRealSense/realsense-
ros/issues/1886#issuecomment-847770368) that from wrapper **2.2.24** onwards
(which matches with librealsense **2.44.0** ), using align_depth with
rs_camera.launch should also generate a pointcloud that is aligned to color.

---

All reactions


119  Encoding getEncoding(  const  std::string& encoding)


double max_image_value


694  {


![The Umbrella Academy’s Justin Min shares adorable first selfie with new
boyfriend](//metro.co.uk/wp-content/uploads/2020/03/JUSTIN-MIN-2-0be4.png)


535  }


672  source_typed->encoding = enc::MONO8;


481  {


329  int  image2_type = CV_MAKETYPE(CV_MAT_DEPTH( [ getCvType
](namespacecv__bridge.html#a60b43d74db6ef87fd6cd35d9305b1ef1) (dst_encoding)),
image1.channels());


#  Ordered PointCloud from RGB-D Camera  #10223


649  // Fill black color to the nan region.


306  [ CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) ptr =
boost::make_shared<CvImage>();


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... I have successfully got the ordered pointcloud with the rs_camera.launch
launch file by adding the term ordered_pc:=true to the roslaunch instruction.
This works fine, but is not aligned. ( Is there a reason that this is not
aligned by default out of the camera ?)...


[ ](javascript:; "Ouch") 0


471  case  [ TIF
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfafbe159afef10463d25bc0042af05c969)
:


**Definition:** [ cv_bridge.cpp:444 ](cv__bridge_8cpp_source.html#l00444)


616  cv::minMaxLoc(source->image, &min_image_value, &max_image_value);


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17  * with the distribution.


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](/monajalal)


248  // Converts a ROS Image to a cv::Mat by sharing the data or changing its
endianness if needed


638  [ CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html)
img_scaled(  new  [ CvImage
](classcv__bridge_1_1CvImage.html#adcb3774384cd81c101f3c9beedede4e7) ());


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Labels


229  // If we are converting from a color type to another type, then
everything is fine


566  // We choose BGR by default here as we assume people will use OpenCV


Copy link


97  if  (encoding == enc::YUV422)  return  CV_8UC2;


Sorry, something went wrong.


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_D4bLyIe8lbJhgCLcBGAs/s400/1.jpg)


[ cv_bridge::CvtColorForDisplayOptions::max_image_value
](structcv__bridge_1_1CvtColorForDisplayOptions.html#a6d3363623e552011f79007ade2e1e0b4)


314  }


March 3, 2016, 3:07 am


38  #include <map>


    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/metadata
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout_agg
    /rosout_agg
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /rosout
    /rosout
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info


**Definition:** [ cv_bridge.h:257 ](cv__bridge_8h_source.html#l00257)


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RealSense](https://avatars.githubusercontent.com/u/41145062?s=40&v=4)
](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) added the [
question ](/IntelRealSense/realsense-ros/labels/question) label  Nov 11, 2023


567  if  ((enc::bitDepth(source->encoding) == 8) ||


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[ cv_bridge::CvImage::image
](classcv__bridge_1_1CvImage.html#a8b0cc1c26637754fbccb91b4fc086526)


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about this channel.


[ cv_bridge::getFormat
](namespacecv__bridge.html#a4efa938de96a8e11269645d8a8fa6f72)


44  #include <opencv2/imgproc/imgproc.hpp>


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


415  {


129  if  ((encoding == enc::BAYER_BGGR8) || (encoding == enc::BAYER_BGGR16))
return  BAYER_BGGR;


59  return  1;


Useful discussion @ # 2269... but it would still be very nice to have filters
(Decimation) working when align_depth:=true.


522  switch  (rgb_a.channels())


636  if  (enc::numChannels(source->encoding) != 1)


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#  Ordered PointCloud from RGB-D Camera  #10223


It runs fine, but the array I get back from the topic
/camera/depth_registered/points varies in size. e.g. I set both colour and
depth to (480,848,3) so expect an array = 1,221,120... but get e.g. 1015911 or
1044357 etc ...

---

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**Definition:** [ cv_bridge.h:260 ](cv__bridge_8h_source.html#l00260)


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**Definition:** [ cv_bridge.h:258 ](cv__bridge_8h_source.html#l00258)


189  res[std::make_pair(BAYER_GBRG, RGB)].push_back(cv::COLOR_BayerGR2RGB);


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April 8, 2024, 1:08 pm


[ cv_bridge::CvImage::toCompressedImageMsg
](classcv__bridge_1_1CvImage.html#abeb18e0ed2af0adaf67daa6b93cb6a32)


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CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr &source, const
std::string &encoding=std::string())


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66  }  else  if  (depth ==  "32F"  ) {


634  if  (min_image_value != max_image_value)


489  {


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617  if  (min_image_value == max_image_value)


Milestone


78  if  (encoding == enc::MONO16)  return  CV_16UC1;


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GitHub** . Already have an account? [ Sign in to comment
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ros%2Fissues%2F2929)


Yes, I suspected that. Sorry I did not ask the explicit question... the first
point was the main query I had =


201  Encoding src_encod = getEncoding(src_encoding);


    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /tf_static
    /camera/stereo_module/parameter_descriptions
    /camera/stereo_module/parameter_updates
    /camera/rgb_camera/parameter_descriptions
    /camera/rgb_camera/parameter_updates
    /camera/depth/image_rect_raw/compressed/parameter_descriptions
    /camera/color/image_raw/compressedDepth/parameter_descriptions
    /camera/color/image_raw/theora/parameter_updates
    /camera/aligned_depth_to_color/image_raw/compressed/parameter_updates
    /camera/stereo_module/auto_exposure_roi/parameter_updates
    /camera/rgb_camera/auto_exposure_roi/parameter_descriptions
    /camera/rgb_camera/auto_exposure_roi/parameter_updates
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info
    /camera/realsense2_camera_manager/bond
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/camera_info


Repositories


421  [ CvImagePtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) ptr =
boost::make_shared<CvImage>();


**[ monajalal ](/monajalal) ** commented  Nov 10, 2023  •


149  res[std::make_pair( [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
, BGR)].push_back(cv::COLOR_GRAY2BGR);


April 8, 2024, 8:41 am


    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout
    /camera/depth/metadata
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth


465  case  [ PPM
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfaf9dc454f916fd886aa9157ca353aa80f)
:


You signed in with another tab or window. [ Reload ]() to refresh your
session.  You signed out in another tab or window. [ Reload ]() to refresh
your session.  You switched accounts on another tab or window. [ Reload ]() to
refresh your session.  Dismiss alert


1  /*********************************************************************


607  }


318  const  std::vector<int> conversion_codes =
getConversionCode(src_encoding, dst_encoding);


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](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) mentioned this
issue  Nov 25, 2022


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530  case  1:


11  *


387  }


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291  cv::mixChannels(std::vector<cv::Mat>(1, mat), std::vector<cv::Mat>(1,
mat_swap), fromTo);


##  Comments


160  res[std::make_pair(BGR, RGBA)].push_back(cv::COLOR_BGR2RGBA);


257  std::stringstream ss;


171  res[std::make_pair(BGRA, RGBA)].push_back(cv::COLOR_BGRA2RGBA);


263  if  (source.height * source.step != source.data.size())


570  else


Projects


BUT, I notice the align_depth:=true option, disables the pointcloud filters
(e.g. decimation).


76  if  (encoding == enc::MONO8)  return  CV_8UC1;


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548  std::string encoding = encoding_out;


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You do not need to use the align_depth instruction with an rs_rgbd launch as
it is aready true by default in this launch file.

---

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](/monajalal) [ monajalal ](/monajalal) mentioned this issue  Nov 10, 2023


    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /rosout
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /rosout
    /camera/depth/image_rect_raw
    /camera/depth/metadata
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics


541  {


Convert a CvImage to another encoding using the same rules as toCvCopy.


176  res[std::make_pair( [ YUV422
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html#a4cd4806e2221b58787bf6fa643ccf60d)
, RGBA)].push_back(cv::COLOR_YUV2RGBA_UYVY);


Converts an immutable sensor_msgs::Image message to another CvImage for
display purposes, using practical conversion rules if needed.


](/gonultasbu)
Copy link
###
**[ gonultasbu ](/gonultasbu) ** commented  Sep 25, 2020  •
edited
the correct regex format for me is the following
` rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)" `
edit: this only suppresses the recording, however a correct approach would be
suppressing the topics altogether.

---

❤  11  malleshamdasari, kadhirumasankar, zhengzh, tkazik, ravijo,
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  * ❤  11 reactions
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Copy link
###
**[ monajalal ](/monajalal) ** commented  Nov 15, 2023
[ @gonultasbu ](https://github.com/gonultasbu)
using your command, no bag was saved

    root@7a805700666e:/workspace# rosbag record -o ~/ -a -x "(.*)theora(.*)|(.*)compressed(.*)"
    [ INFO] [1700066936.129318065]: Subscribing to /rosout_agg
    [ INFO] [1700066936.131239891]: Recording to '/root/_2023-11-15-16-48-56.bag'.
    [ INFO] [1700066936.134720777]: Subscribing to /rosout
    [ INFO] [1700066936.138392535]: Subscribing to /camera/realsense2_camera_manager/bond
    [ INFO] [1700066936.141379812]: Subscribing to /tf_static
    [ INFO] [1700066936.142602206]: Subscribing to /tf
    [ INFO] [1700066936.145413898]: Subscribing to /camera/stereo_module/parameter_descriptions
    [ INFO] [1700066936.151472821]: Subscribing to /camera/stereo_module/parameter_updates
    [ INFO] [1700066936.156670089]: Subscribing to /camera/rgb_camera/parameter_descriptions
    [ INFO] [1700066936.159023293]: Subscribing to /camera/rgb_camera/parameter_updates
    [ INFO] [1700066936.160995901]: Subscribing to /camera/align_to_color/parameter_descriptions


463  case  [ PGM
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfa6aaa352f4c8b36d94f5ad248039e838a)
:


92  if  (encoding == enc::BAYER_BGGR16)  return  CV_16UC1;


431  {


**Definition:** [ cv_bridge.cpp:72 ](cv__bridge_8cpp_source.html#l00072)


348  }


153  res[std::make_pair(RGB, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_RGB2GRAY);


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[ No image received in RIVZ  IntelRealSense/realsense-ros#2977
](/IntelRealSense/realsense-ros/issues/2977)


    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /rosout
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed


449  case  [ BMP
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfad3e5f24dc1fc23acfff20ee230459558)
:


211  if  (!is_src_color_format) {


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448  return  "dib"  ;


Assignees


131  if  ((encoding == enc::BAYER_GRBG8) || (encoding == enc::BAYER_GRBG16))
return  BAYER_GRBG;


[ ↂ
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"HAFSA ROBINSON")


Sorry, something went wrong.


383  {


February 19, 2016, 12:30 am


328  // Keep the number of channels for now but changed to the final depth


432  return  toCvCopyImpl(source->image, source->header, source->encoding,
encoding);


264  {


534  return  [ CvImagePtr
](namespacecv__bridge.html#a1be6ad7c0a2d37ef773198f59ed2f456) ();


` roslaunch realsense2_camera rs_camera.launch align_depth:=true
filters:=pointcloud ordered_pc:=true `

---

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499  }


Resources


**Definition:** [ cv_bridge.cpp:437 ](cv__bridge_8cpp_source.html#l00437)


I do not get an **Ordered** PointCloud from "roslaunch realsense2_camera
**rs_rgbd.launch** " = **any idea why not ?**


625  result->image.setTo(255./2.);


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"Pumas 2022/2023 Font \(TTF & OTF\)")


bool do_dynamic_scaling


678  source_typed->encoding = enc::BGRA8;


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462  return  "pbm"  ;


[ ](javascript:; "Share Page")


[ question  ](/IntelRealSense/realsense-ros/labels/question)


edited


571  throw  std::runtime_error(  "Unsupported depth of the source encoding "
\+ encoding);


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Frank](//busyteacher.org/uploads/posts/2015-04/thumbs/1430406847_the-short-
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[ IntelRealSense ](/IntelRealSense) /  **[ librealsense
](/IntelRealSense/librealsense) ** Public


The RealSense ROS wrapper does not have built-in support for an RGBD launch
and that support must be first installed manually using one of the
instructions below, depending on which ROS1 branch you are using. Have you
installed this support, please?


    root@8603c293ad2b:/workspace/catkin_ws# rosrun bag_converter convert.py
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout


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Projects


June 22, 2016, 9:00 am


    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout


600  result->image.at<cv::Vec3b>(j, i) = cv::Vec3b(0, 0, 0);


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                 /camera/stereo_module/auto_exposure_roi/parameter_updates                           1 msg     : dynamic_reconfigure/Config
                 /camera/stereo_module/parameter_descriptions                                        1 msg     : dynamic_reconfigure/ConfigDescription
                 /camera/stereo_module/parameter_updates                                             1 msg     : dynamic_reconfigure/Config
                 /diagnostics                                                                      164 msgs    : diagnostic_msgs/DiagnosticArray
                 /rosout                                                                           259 msgs    : rosgraph_msgs/Log                     (2 connections)
                 /rosout_agg                                                                       209 msgs    : rosgraph_msgs/Log
                 /tf_static                                                                          1 msg     : tf2_msgs/TFMessage

    (base) mona@ada:~/mona_23_11_10$ ls depth/*.png | wc -l
    7
    (base) mona@ada:~/mona_23_11_10$ ls rgb/*.png | wc -l
    27

---

The text was updated successfully, but these errors were encountered:


#  [ Image array size is not consistent with the message type documentation
](//question2135.rssing.com/chan-36145539/article76-live.html)


[ ↂ
](////hullabaloo16.rssing.com/chan-9145637/article818.html#c9145637a818i695428444
"Calgary Hells Angels implicated in another fraud")


**Definition:** [ rgb_colors.cpp:46 ](rgb__colors_8cpp_source.html#l00046)


    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw


###  [ Movie Worksheet: The Short Life of Anne Frank
](////busyteacher96.rssing.com/chan-4234831/article296.html#c4234831a296i495218235)


614  if  (options. [ do_dynamic_scaling
](structcv__bridge_1_1CvtColorForDisplayOptions.html#a36703aa5ab49cca1eb0adbba9cb70994)
)


    [ INFO] [1700067160.731729348]: Subscribing to /camera/stereo_module/parameter_updates
    [ INFO] [1700067161.729881060]: Subscribing to /camera/rgb_camera/parameter_descriptions
    [ INFO] [1700067161.732194890]: Subscribing to /camera/rgb_camera/parameter_updates
    [ INFO] [1700067161.733336091]: Subscribing to /camera/align_to_color/parameter_descriptions
    [ INFO] [1700067161.734822022]: Subscribing to /camera/align_to_color/parameter_updates
    [ INFO] [1700067161.735833104]: Subscribing to /diagnostics
    [ INFO] [1700067161.736798501]: Subscribing to /camera/depth/image_rect_raw
    [ INFO] [1700067161.737794981]: Subscribing to /camera/depth/camera_info
    [ INFO] [1700067161.740957394]: Subscribing to /camera/depth/metadata
    [ INFO] [1700067161.743866104]: Subscribing to /camera/color/image_raw
    [ INFO] [1700067161.745697492]: Subscribing to /camera/color/camera_info
    [ INFO] [1700067161.746684795]: Subscribing to /camera/color/metadata
    [ INFO] [1700067161.747610206]: Subscribing to /camera/aligned_depth_to_color/image_raw
    [ INFO] [1700067161.748536983]: Subscribing to /camera/aligned_depth_to_color/camera_info
    [ INFO] [1700067161.749415774]: Subscribing to /camera/extrinsics/depth_to_color
    [ INFO] [1700067161.750556258]: Subscribing to /camera/stereo_module/auto_exposure_roi/parameter_descriptions
    [ INFO] [1700067161.751413860]: Subscribing to /camera/stereo_module/auto_exposure_roi/parameter_updates
    [ INFO] [1700067161.752286442]: Subscribing to /camera/rgb_camera/auto_exposure_roi/parameter_descriptions
    [ INFO] [1700067161.753372010]: Subscribing to /camera/rgb_camera/auto_exposure_roi/parameter_updates

fixed the problem

---

All reactions
Sorry, something went wrong.
[
![@gonultasbu](https://avatars.githubusercontent.com/u/19195222?s=80&u=0695a60fe4cff728cf746782f274975216ff4315&v=4)
](/gonultasbu)
Copy link
###
**[ gonultasbu ](/gonultasbu) ** commented  Nov 15, 2023
[ @monajalal ](https://github.com/monajalal) that's interesting, your terminal
output declares that it is saved to ` '/root/_2023-11-15-16-48-56.bag'. ` ,
was your rosbag emtpy?

---

All reactions


53  namespace  [ cv_bridge ](namespacecv__bridge.html) {


edited


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**[ MikeHallettUK ](/MikeHallettUK) ** commented  Jun 16, 2022


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Cancel  Submit feedback


[ cv_bridge::CvtColorForDisplayOptions
](structcv__bridge_1_1CvtColorForDisplayOptions.html)


637  throw  [ Exception ](classcv__bridge_1_1Exception.html) (
"cv_bridge.cvtColorForDisplay() scaling for images with more than one channel
is unsupported"  );


April 14, 2024, 8:14 am


**Definition:** [ cv_bridge.cpp:406 ](cv__bridge_8cpp_source.html#l00406)


423  ptr->encoding = source.encoding;


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376  }


    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/theora/parameter_updates
    /camera/color/image_raw/compressedDepth/parameter_updates
    /camera/stereo_module/auto_exposure_roi/parameter_descriptions
    /camera/aligned_depth_to_color/camera_info
    /rosout
    /rosout_agg
    /camera/depth/camera_info
    /camera/color/image_raw/compressed
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/aligned_depth_to_color/image_raw/theora/parameter_updates
    /camera/extrinsics/depth_to_color
    /camera/aligned_depth_to_color/camera_info
    /rosout
    /rosout_agg
    /camera/depth/camera_info
    /camera/color/image_raw/compressed
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/aligned_depth_to_color/camera_info
    /rosout
    /rosout_agg
    /camera/depth/camera_info
    /camera/color/image_raw/compressed
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/theora/parameter_descriptions
    /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
    /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
    /camera/aligned_depth_to_color/camera_info
    /camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
    /camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions
    /camera/aligned_depth_to_color/image_raw/compressedDepth
    /camera/aligned_depth_to_color/image_raw/compressed
    /camera/aligned_depth_to_color/image_raw/theora
    /camera/aligned_depth_to_color/image_raw/theora
    /camera/aligned_depth_to_color/image_raw/theora
    /rosout
    /camera/color/camera_info


[ cv_bridge::CvtColorForDisplayOptions::bg_label
](structcv__bridge_1_1CvtColorForDisplayOptions.html#af63c51bcb42b0de9293576e567ed414c)


Copy link


608  }


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251  int  source_type = [ getCvType
](namespacecv__bridge.html#a60b43d74db6ef87fd6cd35d9305b1ef1)
(source.encoding);


168  res[std::make_pair(BGRA, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_BGRA2GRAY);


635  {


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313  source.copyTo(ptr->image);


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


285  for  (  int  i = 0; i < num_channels; ++i)


578  }


517  // Construct matrix pointing to source data


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693  catch  ( [ cv_bridge::Exception ](classcv__bridge_1_1Exception.html) & e)


[ cv_bridge::toCvCopy
](namespacecv__bridge.html#acbf2da402f4d3e505613e95b5a2aed35)


[ cv_bridge::DIB
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfaf2228b3b50250063d0256e3a40032f55)


[ cv_bridge::RAS
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfa2239eb1bb1fe372887900174cfd90620)


2  * Software License Agreement (BSD License)


[ ![@CWAndersn](https://avatars.githubusercontent.com/u/36552123?s=40&v=4)
](/CWAndersn) [ CWAndersn ](/CWAndersn) closed this as [ completed
](/IntelRealSense/librealsense/issues?q=is%3Aissue+is%3Aclosed+archived%3Afalse+reason%3Acompleted)
Feb 7, 2022


[ ](javascript:; "Ouch") 0


573  }


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jun 10, 2022


335  image1.convertTo(image2, image2_type, 255. / 65535.);


576  {


#  [ get a depth image using a kinect and openCV.
](//question2135.rssing.com/chan-36145539/article70-live.html)


9  * modification, are permitted provided that the following conditions


641  img_scaled->encoding = enc::MONO8;


#  Search code, repositories, users, issues, pull requests...


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695  throw  [ Exception ](classcv__bridge_1_1Exception.html) (
"cv_bridge.cvtColorForDisplay() while trying to convert image from '"  \+
source->encoding +  "' to '"  \+ encoding +  "' an exception was thrown ("  \+
e.what() +  ")"  );


508  // Deep copy data, returnee is mutable


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=40&v=4)
](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) mentioned this
issue  Aug 20, 2022


##  Use saved searches to filter your results more quickly


224  throw  [ Exception ](classcv__bridge_1_1Exception.html) (  "["  \+
src_encoding +  "] is a color format but ["  \+ dst_encoding +  "] "  \+


62  }  else  if  (depth ==  "16S"  ) {


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Nov 11, 2023  •


[ ](javascript:; "Ouch") 0


28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;


236  "] to ["  \+ dst_encoding +  "]"  );


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"Padmasree for Sri K G Jayan ,a senior musician of AIR Thrissur")


102  if  (boost::regex_match(encoding.c_str(), m,


110  }


Convert this message to a ROS sensor_msgs::Image message.


453  case  [ JPEG
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfadc1cd099bb82f23f7b591f52411da82f)
:


cv::Mat image


Viewing all 122 articles


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


682  source_typed->encoding = enc::BGRA8;


577  throw  [ Exception ](classcv__bridge_1_1Exception.html) (
"cv_bridge.cvtColorForDisplay() output encoding is empty and cannot be
guessed."  );


**Kinetic**
sudo apt-get install ros-kinetic-rgbd-launch


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15  * copyright notice, this list of conditions and the following


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22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS


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658  }


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488  else


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Skip to content


Query


524  case  4:


I was on slightly older than those. Now compiled on my ODROID N2+ to latest
versions:
RealSense ROS v2.3.2
Built with LibRealSense v2.50.0


218  }


Hi [ @monajalal ](https://github.com/monajalal) Do you require further
assistance with this case, please? Thanks!

---

👍  1  monajalal reacted with thumbs up emoji


360  }


89  if  (encoding == enc::BAYER_GBRG8)  return  CV_8UC1;


135  }


Sorry, something went wrong.


342  [ cv::cvtColor
](namespacecv__bridge.html#ab9a4ba669b03a3b0a35651a6c0d77be1) (image1, image2,
conversion_code);


457  case  [ JP2
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfa5708345c1b3ef1aad7b58afbc740116e)
:


540  const  [ CvtColorForDisplayOptions
](structcv__bridge_1_1CvtColorForDisplayOptions.html) options)


    id- /dev/video3
    vid- 8086
    pid- ad3
    mi- 0
    unique_id- 2-2-22
    path- /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video3
    susb specification- 310

    id- /dev/video4
    vid- 8086
    pid- ad3
    mi- 0
    unique_id- 2-2-22
    path- /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video4
    susb specification- 310

     29/05 12:28:01,679 DEBUG [139778917799680] (context.cpp:373)
    Device connected:

    uvc devices:
    id- /dev/video1
    vid- 8086
    pid- ad3
    mi- 0
    unique_id- 2-2-23
    path- /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video1
    susb specification- 310

    id- /dev/video2
    vid- 8086
    pid- ad3
    mi- 3
    unique_id- 2-2-23
    path- /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.3/video4linux/video2
    susb specification- 310

    id- /dev/video0
    vid- 8086
    pid- ad3


March 14, 2016, 2:27 pm


[ ](//question2135.rssing.com/chan-36145539/all_p3.html "older") First Page
Page 2  Page 3  Page 4  Page 5  Page 6  Last Page  [
](//question2135.rssing.com/chan-36145539/all_p5.html "newer")


February 15, 2016, 5:44 am


336  else


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    roslaunch realsense2_camera rs_camera.launch filters:=pointcloud,colorizer align_depth:=true ordered_pc:=true

---

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[ cv_bridge::rgb_colors::GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)


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###  [ 19 Reader-Favourite March Purchases — From Steals To Splurges
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    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /camera/depth/metadata
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg


660  }


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get rgb color with enum.


[ ros  ](/IntelRealSense/librealsense/labels/ros)


None yet


    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout


470  return  "sr"  ;


590  source->encoding == enc::TYPE_32SC1)


27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,


    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /camera/depth/metadata
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg


Hello, I want to try some opencv algorithms with depth images from the
turtlebot1 (create base). I want to save them for later use because of the
complexity of modifying and remaking a node. We have our Turtlebot started
with Turtlebot_bringup minimal.launch and turtlebot_bringup 3dsensor.launch.
RVIZ is currently showing */camera/depth_registered/image_raw* (which dont
look as detailed as I imagined looking at the IR image) but not any
*/camera/depth/* topic. I tried `rostopic hz /camera/depth/image_raw` but it
is not publishing. `rosrun image_view image_view
image:=/camera/depth_registered/image_raw` says: > Unable to convert '16UC1'
image to bgr8: '[16UC1] is not a color format. but [bgr8] is. The conversion
does not make sense' Can I somehow easily save these images for later
processing?


CvImagePtr cvtColor(const CvImageConstPtr &source, const std::string
&encoding)


225  "is not so they must have the same OpenCV type, CV_8UC3, CV16UC1 ...."
);


    /rosout_agg
    /rosout
    /rosout_agg
    /camera/color/camera_info
    /rosout
    /camera/aligned_depth_to_color/image_raw
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/depth/camera_info
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/depth/image_rect_raw
    /camera/depth/camera_info
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /rosout
    /rosout
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout
    /rosout
    /rosout
    /rosout
    /camera/depth/image_rect_raw


By Solution


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**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Nov 16, 2023


498  temp = [ cvtColor
](namespacecv__bridge.html#ab9a4ba669b03a3b0a35651a6c0d77be1) (tempThis,
enc::BGR8);


[ ](https://github.com/)


Closed


Author


410  }


447  case  [ DIB
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfaf2228b3b50250063d0256e3a40032f55)
:


128  if  ((encoding == enc::BAYER_RGGB8) || (encoding == enc::BAYER_RGGB16))
return  BAYER_RGGB;


196  return  res;


[ ](javascript:;)


**[ MikeHallettUK ](/MikeHallettUK) ** commented  Jun 16, 2022


25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE


[ ![@CWAndersn](https://avatars.githubusercontent.com/u/36552123?s=80&v=4)
](/CWAndersn)


int bg_label


496  else


109  return  CV_MAKETYPE( [ depthStrToInt
](namespacecv__bridge.html#a76369e4bbe0a2fda233cf5d4640ba2aa) (m[1].str()),
1);


323  if  (conversion_code == SAME_FORMAT)


83  if  (encoding == enc::BGRA16)  return  CV_16UC4;


1. Install support for an RGBD launch on Noetic with this instruction:


69  return  6;


21  *


601  }


[ cv_bridge::CvImage::encoding
](classcv__bridge_1_1CvImage.html#ac3e39d95b3691df0b08496267517f2db)


` sudo apt-get install ros-noetic-rgbd-launch `


93  if  (encoding == enc::BAYER_GBRG16)  return  CV_16UC1;


You can also publish an ordered pointcloud with the **rs_camera.launch**
launch file (whose default is an unordered cloud) by adding the term
**ordered_pc:=true** to the roslaunch instruction. For example:


[
![@monajalal](https://avatars.githubusercontent.com/u/1892917?s=40&u=fb3f8f2771bf62335706b46ad426a3dfa3ae9c73&v=4)
](/monajalal) [ monajalal ](/monajalal) closed this as [ completed
](/IntelRealSense/realsense-
ros/issues?q=is%3Aissue+is%3Aclosed+archived%3Afalse+reason%3Acompleted) Nov
16, 2023


125  if  ((encoding == enc::RGBA8) || (encoding == enc::RGBA16))  return
RGBA;


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241  res.push_back(SAME_FORMAT);


146  res[std::pair<Encoding,
Encoding>(Encoding(i),Encoding(i))].push_back(SAME_FORMAT);


661  return  [ cvtColor
](namespacecv__bridge.html#ab9a4ba669b03a3b0a35651a6c0d77be1) (img_scaled,
encoding);


[ _≪_ Previous: Depth map estimation from monocular camera
](//question2135.rssing.com/chan-36145539/all_p4.html#c36145539a78 "Previous
Article")


root@8603c293ad2b:/workspace/catkin_ws# source devel/setup.bash


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[ 538 ](namespacecv__bridge.html#ac82f0aba256a6eac48cf4378a8990268) [
CvImageConstPtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) [
cvtColorForDisplay
](namespacecv__bridge.html#ac82f0aba256a6eac48cf4378a8990268) (  const  [
CvImageConstPtr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) & source,


405  // Share const data, returnee is immutable


    /camera/color/image_raw
    /camera/color/metadata
    /camera/color/image_raw/theora
    /camera/color/camera_info
    /rosout
    /rosout_agg
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /rosout
    /rosout_agg
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/depth/camera_info
    /camera/color/metadata
    /camera/depth/image_rect_raw
    /camera/depth/camera_info
    /camera/color/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/color/metadata
    /rosout
    /rosout
    /rosout
    /camera/color/camera_info
    /rosout
    /rosout_agg
    /camera/color/image_raw/compressed
    /camera/color/image_raw


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256  {


Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying
the image data...


rs_rgbd.launch should by default generate a point cloud that is published at
**depth_image_proc** and so does not have an option for an ordered cloud like
rs_camera.launch has because it does not need it. There is a discussion about
this and unorganized versus organized clouds in the rs_camera and rs_rgbd
launches at [ IntelRealSense/realsense-ros#851
](https://github.com/IntelRealSense/realsense-ros/issues/851)


582  if  ((!enc::isColor(encoding_out) && !enc::isMono(encoding_out)) ||


Copy link


65  return  4;


**Definition:** [ cv_bridge.h:64 ](cv__bridge_8h_source.html#l00064)


7  *


80  if  (encoding == enc::RGB16)  return  CV_16UC3;


560  encoding = enc::BGR8;


338  }


    /rosout_agg
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/depth/camera_info
    /camera/color/metadata
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout


Closed


555  {


**Definition:** [ cv_bridge.h:62 ](cv__bridge_8h_source.html#l00062)


Sorry, something went wrong.


259  source.width << " * "  << byte_depth << " * "  << num_channels;


528  return  toCvCopyImpl(rgb_a, source.header, enc::BGR8, encoding);


61  return  2;


299  // Internal, used by toCvCopy and cvtColor


[ Search ](javascript:;)


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286  for  (  int  j = 0; j < byte_depth; ++j)


235  throw  [ Exception ](classcv__bridge_1_1Exception.html) (  "Unsupported
conversion from ["  \+ src_encoding +


[ cv_bridge::CvImage::header
](classcv__bridge_1_1CvImage.html#ada0ff87a844dbd6f25a87bf2fee5742f)


[ CPU usage with two d435i in Jetson AGX Xavier  IntelRealSense/realsense-
ros#2722  ](/IntelRealSense/realsense-ros/issues/2722)


[ _≪_ Previous: How to obtain depth coordinate using two,widely sperated,
cameras: ROS, python Baxter
](//question2135.rssing.com/chan-36145539/all_p4.html#c36145539a73 "Previous
Article")


203  bool  is_src_color_format = enc::isColor(src_encoding) ||
enc::isMono(src_encoding) ||


[ @MartyG-RealSense ](https://github.com/MartyG-RealSense) I think I am all
set. Could you please check this answer and let me know if that makes sense to
you?


379  // Copy by row by row


* Product


    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/realsense2_camera_manager/bond
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /camera/color/image_raw/compressed


Clear


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556  if  ((source->encoding == enc::TYPE_32SC1) ||


159  res[std::make_pair(BGR, RGB)].push_back(cv::COLOR_BGR2RGB);


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Include my email address so I can be contacted


408  {


525  return  toCvCopyImpl(rgb_a, source.header, enc::BGRA8, encoding);


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


173  res[std::make_pair( [ YUV422
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html#a4cd4806e2221b58787bf6fa643ccf60d)
, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_YUV2GRAY_UYVY);


**Definition:** [ cv_bridge.h:69 ](cv__bridge_8h_source.html#l00069)


512  return  [ toCvCopy
](namespacecv__bridge.html#acbf2da402f4d3e505613e95b5a2aed35) (*source,
encoding);


[ tf frames not being published in a multi camera setup with D415 cameras
IntelRealSense/realsense-ros#2554  ](/IntelRealSense/realsense-
ros/issues/2554)


584  throw  [ Exception ](classcv__bridge_1_1Exception.html) (
"cv_bridge.cvtColorForDisplay() does not have an output encoding that is color
or mono, and has is bit in depth"  );


99  // Check all the generic content encodings


192  res[std::make_pair(BAYER_GRBG, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_BayerGB2GRAY);


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ros%2Fissues%2F2929)


Viewing all 122 articles


April 8, 2024, 1:08 pm


655  img_scaled->image.at<cv::Vec3b>(j, i) = cv::Vec3b(0, 0, 0);


[ cv_bridge::BMP
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfad3e5f24dc1fc23acfff20ee230459558)


[ cv_bridge::PGM
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bfa6aaa352f4c8b36d94f5ad248039e838a)


249  cv::Mat matFromImage(  const  sensor_msgs::Image& source)


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**roslaunch realsense2_camera rs_camera.launch filters:=pointcloud,colorizer
align_depth:=true ordered_pc:=true**

---

All reactions


551  try


Copy link


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#  [ Depth map estimation from monocular camera
](//question2135.rssing.com/chan-36145539/article78-live.html)


I'm trying to find a specific pixel's depth of `/depth/image_raw` topic that
is published by Kinect sensor mounted on **Turtlebot** robot. It's what I get:
www.uppic.com/do.php?img=97090) (Sorry I have not enough karma to upload
image. It's what I see in **rviz**: www.uppic.com/do.php?img=97092 How can I
fix it to get depth of pixels?


[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=80&v=4)
](/MartyG-RealSense)


374  {


Collaborator


Search or jump to...


Yes thanks... ros-noetic-rgbd-launch is installed and runs.


[ ](javascript:; "Like") 0


**[ MikeHallettUK ](/MikeHallettUK) ** commented  Jun 11, 2022


#  [ Any suggestions for combining scans of different frequencies?
](//question2135.rssing.com/chan-36145539/article63-live.html)


333  image1.convertTo(image2, image2_type, 65535. / 255.);


[ 480 ](classcv__bridge_1_1CvImage.html#ac9ec5ad1d10f061c3f1e9fd057e54ada)
void  [ CvImage::toCompressedImageMsg
](classcv__bridge_1_1CvImage.html#abeb18e0ed2af0adaf67daa6b93cb6a32)
(sensor_msgs::CompressedImage& ros_image,  const  [ Format
](namespacecv__bridge.html#a166887feb09ea6ce14e8742384e574bf) dst_format)
const


[ ↂ
](////learn4804.rssing.com/chan-65098560/article5043.html#c65098560a5043i329832300
"Class 10 Sanskrit Grammar Book Solutions अपठित-अवबोधनम्")


June 8, 2016, 4:35 pm


[ sensor_msgs::image_encodings
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html)


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[ ![@MartyG-
RealSense](https://avatars.githubusercontent.com/u/41145062?s=40&v=4)
](/MartyG-RealSense) [ MartyG-RealSense ](/MartyG-RealSense) mentioned this
issue  May 1, 2023


46  #include < [ sensor_msgs/image_encodings.h
](../../../../api/sensor_msgs/html/image__encodings_8h.html) >


188  res[std::make_pair(BAYER_GBRG, [ GRAY
](namespacecv__bridge_1_1rgb__colors.html#aa6343a2cb9080c11afefb714570c63cca04e661921a463f3df840acbb03527c98)
)].push_back(cv::COLOR_BayerGR2GRAY);


591  {


[ ](//question2135.rssing.com/chan-36145539/all_p3.html "older") First Page
Page 2  Page 3  Page 4  Page 5  Page 6  Last Page  [
](//question2135.rssing.com/chan-36145539/all_p5.html "newer")


###
**[ basvroeg ](/basvroeg) ** commented  Jul 16, 2018  •
edited
Facing similar issues here, when using a D435 on Ubuntu 14.04 with Ros Kinetic
using Realsense ROS v2.0.3 and LibRealSense v2.10.2.
Using the camera within the ROS setup all goes fine. As soon as rosbag record
-a is used, error messages on image conversion start to appear. Narrowing this
down to image sources leads to the notion that color images go fine, but for
Infrared very frequent errors appear (8UC1 is not a color format) and for
depth / aligned images they appear at a lower rate (16UC1)
logging depth images also reduces frame rate from about 15 hz (as expected) to
about 2-2.5 Hz. Logging more can reduce frame rate even further, to around
0.5-1 Hz.
Hope to have a look tomorrow into referenced issues, to see if this helps...
EDIT: switched off publishing of compressed image topics using the
/disable_pub_plugins parameter as indicated [ here
](https://answers.ros.org/question/255970/how-to-deactivate-image_transport-
plugins/) . Also had to add correct camera/topic name in front of this
parameter to get it to work.

---

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[
![@mingyokim](https://avatars.githubusercontent.com/u/21287547?s=80&u=3b4962205f4122608df41684a18915e55aced68c&v=4)
](/mingyokim)
Copy link
###
**[ mingyokim ](/mingyokim) ** commented  Oct 27, 2018
I think the reason for the error is because some topics use proprietary
message types from intel. If you just need the topic `
/camera/depth_registered/points ` , you can just run ` rosbag record
/camera/depth_registered/points ` . Try to avoid using ` -a ` unless you
really need all the topics.

---

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31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN


34  *********************************************************************/


494  temp = [ cvtColor
](namespacecv__bridge.html#ab9a4ba669b03a3b0a35651a6c0d77be1) (tempThis,
enc::BGRA8);


487  }


**[ MartyG-RealSense ](/MartyG-RealSense) ** commented  Jun 11, 2022


679  else  if  (source->encoding ==  "CV_16UC3"  )


Channel: ROS Answers: Open Source Q&A Forum - RSS feed


597  for  (  size_t  i = 0; i < source->image.cols; ++i) {


    root@8603c293ad2b:/workspace/catkin_ws# rosbag /workspace/mona_2023-11-10-22-05-02.bag
    Unknown command: '/workspace/mona_2023-11-10-22-05-02.bag'
    Available subcommands:
       check  	Determine whether a bag is playable in the current system, or if it can be migrated.
       compress  	Compress one or more bag files.
       decompress  	Decompress one or more bag files.
       decrypt  	Decrypt one or more bag files.
       encrypt  	Encrypt one or more bag files.
       filter  	Filter the contents of the bag.
       fix  	Repair the messages in a bag file so that it can be played in the current system.
       help
       info  	Summarize the contents of one or more bag files.
       play  	Play back the contents of one or more bag files in a time-synchronized fashion.
       record  	Record a bag file with the contents of specified topics.
       reindex  	Reindexes one or more bag files.

    root@8603c293ad2b:/workspace/catkin_ws# rosbag info /workspace/mona_2023-11-10-22-05-02.bag
    path:        /workspace/mona_2023-11-10-22-05-02.bag
    version:     2.0
    duration:    44.1s
    start:       Nov 10 2023 22:05:02.63 (1699653902.63)
    end:         Nov 10 2023 22:05:46.71 (1699653946.71)
    size:        151.0 MB
    messages:    1710
    compression: none [149/149 chunks]
    types:       bond/Status                           [eacc84bf5d65b6777d4c50f463dfb9c8]
                 diagnostic_msgs/DiagnosticArray       [60810da900de1dd6ddd437c3503511da]
                 dynamic_reconfigure/Config            [958f16a05573709014982821e6822580]
                 dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
                 realsense2_camera/Extrinsics          [3627b43073f4cd5dd6dc179a49eda2ad]
                 realsense2_camera/Metadata            [4966ca002be16ee67fe4dbfb2f354787]
                 rosgraph_msgs/Log                     [acffd30cd6b6de30f120938c17c593fb]
                 sensor_msgs/CameraInfo                [c9a58c1b0b154e0e6da7578cb991d214]
                 sensor_msgs/CompressedImage           [8f7a12909da2c9d3332d540a0977563f]
                 sensor_msgs/Image                     [060021388200f6f0f447d0fcd9c64743]
                 tf2_msgs/TFMessage                    [94810edda583a504dfda3829e70d7eec]
                 theora_image_transport/Packet         [33ac4e14a7cff32e7e0d65f18bb410f3]
    topics:      /camera/align_to_color/parameter_descriptions                                       1 msg     : dynamic_reconfigure/ConfigDescription
                 /camera/align_to_color/parameter_updates                                            1 msg     : dynamic_reconfigure/Config
                 /camera/aligned_depth_to_color/camera_info                                         24 msgs    : sensor_msgs/CameraInfo


290  }


**Definition:** [ cv_bridge.h:259 ](cv__bridge_8h_source.html#l00259)


Sorry, something went wrong.


    /rosout
    /rosout
    /rosout
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /rosout
    /rosout
    /rosout
    /camera/color/image_raw/theora
    /camera/color/metadata
    /camera/color/camera_info
    /rosout
    /camera/color/image_raw/compressed
    /camera/color/image_raw
    /camera/realsense2_camera_manager/bond
    /camera/color/image_raw/theora
    /camera/depth/camera_info
    /camera/color/metadata


####  Latest Images


122  if  ((encoding == enc::BGR8) || (encoding == enc::BGR16))  return  BGR;


529  break  ;


Yes, the Stack Exchange answer makes sense to me. Thanks very much for the
update!

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549  if  (encoding.empty())


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557  (enc::bitDepth(source->encoding) == 8) ||


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](/IntelRealSense/realsense-ros) ** Public


347  ptr->encoding = dst_encoding;


680  source_typed->encoding = enc::BGR8;


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302  const  std::string& src_encoding,


    (base) mona@ada:~/catkin_ws/src/bag_converter/scripts$ cat convert.py
    #!/usr/bin/python3

    import os
    import sys
    import yaml
    from rosbag.bag import Bag
    import cv2

    import roslib;   #roslib.load_manifest(PKG)
    import rosbag
    import rospy
    import cv2
    import numpy as np
    import argparse
    import os

    from sensor_msgs.msg import Image
    from cv_bridge import CvBridge
    from cv_bridge import CvBridgeError

    class ImageCreator():
        def __init__(self, bagfile, rgbpath, depthpath, rgbstamp, depthstamp):
            self.bridge = CvBridge()
            with rosbag.Bag(bagfile, 'r') as bag:
                for topic,msg,t in bag.read_messages():
                    print(topic)
                    if topic == "/camera/color/image_raw":
                        cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        image_name = timestr+ ".png"
                        cv2.waitKey(1);
                        cv2.imwrite(rgbpath + image_name, cv_image)

                    elif topic == "/camera/aligned_depth_to_color/image_raw":
                        cv_image = self.bridge.imgmsg_to_cv2(msg,"16UC1")
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        image_name = timestr+ ".png"


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656  }


686  return  source;


I could not see an explicit parameter like "ordered_pc:=true" for rs_rgbd...
is there one ?


43  #include <opencv2/imgcodecs.hpp>


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91  if  (encoding == enc::BAYER_RGGB16)  return  CV_16UC1;


690  // Now that the output is a proper color format, try to see if any
conversion is possible


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18  * * Neither the name of the Willow Garage nor the names of its


std::string encoding


2 participants


250  {


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    /rosout_agg
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout_agg
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /camera/depth/metadata
    /camera/depth/camera_info
    /rosout
    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth


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166  res[std::make_pair(RGBA, BGRA)].push_back(cv::COLOR_RGBA2BGRA);


182  res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::COLOR_BayerBG2BGR);


13  * notice, this list of conditions and the following disclaimer.


Email Address


Collaborator


    pc = ros_numpy.point_cloud2.pointcloud2_to_xyz_array(msg)   # Ordered Pointcloud in msg
    pc = pc.reshape(msg.height, msg.width, 3)

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5  * Copyright (c) 2015, Tal Regev.


const std::string YUV422


632  }


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369  ros_image.step = [ image
](classcv__bridge_1_1CvImage.html#a8b0cc1c26637754fbccb91b4fc086526) .cols * [
image ](classcv__bridge_1_1CvImage.html#a8b0cc1c26637754fbccb91b4fc086526)
.elemSize();


edited


73  {


**Definition:** [ cv_bridge.h:63 ](cv__bridge_8h_source.html#l00063)


[ rgb_colors.h ](rgb__colors_8h.html)


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654  if  (std::isnan(float_value)) {


393  const  std::string& encoding)


    /rosout
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/image_rect_raw
    /camera/depth/camera_info
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /camera/depth/image_rect_raw
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /rosout_agg
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/depth/metadata
    /camera/color/camera_info
    /camera/depth/camera_info


6  * All rights reserved.


294  mat_swap.reshape(num_channels);


Sorry, something went wrong.


    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /camera/depth/image_rect_raw
    /rosout_agg
    /camera/realsense2_camera_manager/bond
    /camera/realsense2_camera_manager/bond
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed
    /rosout
    /camera/depth/camera_info
    /camera/depth/metadata
    /rosout_agg
    /camera/depth/image_rect_raw
    /diagnostics
    /diagnostics
    /diagnostics
    /diagnostics
    /camera/depth/image_rect_raw/compressedDepth
    /rosout
    /camera/depth/image_rect_raw/compressed
    /camera/depth/image_rect_raw
    /camera/depth/camera_info
    /rosout_agg
    /camera/depth/metadata
    /camera/depth/image_rect_raw/compressedDepth
    /camera/depth/image_rect_raw/compressed


ROS header.


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](/MartyG-RealSense)


int getCvType(const std::string &encoding)


532  break  ;


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550  {


206  enc::isBayer(dst_encoding) || (dst_encoding == enc::YUV422);


130  if  ((encoding == enc::BAYER_GBRG8) || (encoding == enc::BAYER_GBRG16))
return  BAYER_GBRG;


227  }


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##  Footer


51  namespace  [ enc
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html)
= [ sensor_msgs::image_encodings
](../../../../api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html)
;


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273  if  ((boost::endian::order::native == boost::endian::order::big &&
source.is_bigendian) ||


**[ MikeHallettUK ](/MikeHallettUK) ** commented  Jun 10, 2022


304  {


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**Definition:** [ cv_bridge.h:68 ](cv__bridge_8h_source.html#l00068)


std_msgs::Header header


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