Merge pull request ethz-asl#90 from tu-darmstadt-ros-pkg/calibration_…

…validator_rgb_support Allow using rgb images in validator
shibowing · Nov 13, 2017 · 6f6657d · 6f6657d
2 parents 30c2860 + 211f416
commit 6f6657d
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_camera_validator b/aslam_offline_calibration/kalibr/python/kalibr_camera_validator
@@ -115,13 +115,17 @@ class CameraChainValidator(object):
         if (timeNow-self.timeLast < 1.0/rate) and self.timeLast!=0:
             return
         self.timeLast = timeNow
-
+         
         #process the images of all cameras
         self.observations=[]; 
         for cam_nr, msg in enumerate(cam_msgs):
+
             #convert image to numpy
             try:
-                cv_image = self.bridge.imgmsg_to_cv2(msg)
+                if (msg.encoding == "rgb8"):
+                  cv_image = np.squeeze(np.array(self.bridge.imgmsg_to_cv2(msg, "mono8")))
+                else:
+                  cv_image = self.bridge.imgmsg_to_cv2(msg)
                 np_image = np.array(cv_image)
             except CvBridgeError, e:
                 print e