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CCNYRoboticsLab / ccny_rgbd_tools

ccny_rgbd_tools
GNU Lesser General Public License v3.0
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Support for 32FC1 depth images #8

Closed astaranowicz closed 11 years ago

astaranowicz commented 11 years ago

Trying to use the PR2 in Gazebo, the simulated Kinect gives different image encoding in regards to the depth-map related topics. The simulated Kinect uses 32FC1 instead of the normal 16UC1 which is used by the real Kinect.

idryanov commented 11 years ago

Now suppotrs 32FC1 images. They are converted (internally) to 16UC1. This takes about 1 to 2ms per image on my i7. Passing 16UC1 is still slightly more efficient.