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Fix depth img encoding

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This commit is contained in:
Michel Breyer 2021-12-03 14:06:26 +01:00
parent d8ea9683db
commit c0ae6e2333
3 changed files with 3 additions and 3 deletions
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2
launch/env.launch
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@ -1,6 +1,6 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="sim" default="true" /> <arg name="sim" />
<arg name="launch_rviz" default="false" /> <arg name="launch_rviz" default="false" />
<!-- Load parameters --> <!-- Load parameters -->

2
scripts/bt_sim_node.py
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@ -317,7 +317,7 @@ class CameraPlugin(Plugin):
if self.cam_noise: if self.cam_noise:
depth = apply_noise(depth) depth = apply_noise(depth)
msg = self.cv_bridge.cv2_to_imgmsg(depth) msg = self.cv_bridge.cv2_to_imgmsg((1000 * depth).astype(np.uint16))
msg.header.stamp = stamp msg.header.stamp = stamp
self.depth_pub.publish(msg) self.depth_pub.publish(msg)

2
src/active_grasp/controller.py
View File

@ -112,7 +112,7 @@ class GraspController:
def get_state(self): def get_state(self):
q, _ = self.arm.get_state() q, _ = self.arm.get_state()
msg = copy.deepcopy(self.latest_depth_msg) msg = copy.deepcopy(self.latest_depth_msg)
img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32) img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32) * 0.001
pose = tf.lookup(self.base_frame, self.cam_frame, msg.header.stamp) pose = tf.lookup(self.base_frame, self.cam_frame, msg.header.stamp)
return img, pose, q return img, pose, q