[backport iron] ROS 2: depth_image_proc/point_cloud_xyzi_radial Add i…

…ntensity conversion (copy) for float (#867) (#880) Backport #867 Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Jan 19, 2024 · f0090f8 · f0090f8
1 parent 0dfd862
commit f0090f8
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diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -214,6 +214,8 @@ void PointCloudXyziNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == enc::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == enc::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",

diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -157,6 +157,8 @@ void PointCloudXyziRadialNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",