The image publiced in ros topic is upside down, can I solve it from the source code of this plugin,in fact,
I find the code of 'imageTransportPublish' as follow , but it seems that it don't work :
` sensor_msgs::Image image_msg;
image_msg.header.stamp = ros::Time::now();
image_msg.header.frame_id = in->frame_id;
image_msg.encoding = sensor_msgs::image_encodings::RGB8;
image_msg.width = in->width;
image_msg.height = in->height;
image_msg.step = image_msg.width * 3;
int data_len = image_msg.step * image_msg.height;
image_msg.data.resize(data_len);
image_msg.is_bigendian = 0;
for(unsigned int i = 0; i < image_msg.height; i++)
{
int msg_idx = (image_msg.height - i - 1) * image_msg.step;
int buf_idx = i * image_msg.step;
for(unsigned int j = 0; j < image_msg.step; j++)
{
image_msg.data[msg_idx + j] = in->data[buf_idx + j];
}
}`
fferri
commented
2 years ago
The image publiced in ros topic is upside down, can I solve it from the source code of this plugin,in fact, I find the code of 'imageTransportPublish' as follow , but it seems that it don't work : ` sensor_msgs::Image image_msg; image_msg.header.stamp = ros::Time::now(); image_msg.header.frame_id = in->frame_id; image_msg.encoding = sensor_msgs::image_encodings::RGB8; image_msg.width = in->width; image_msg.height = in->height; image_msg.step = image_msg.width * 3;