Enabling RGB8 Infrared stream #2806
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Arun-Prasad-V
commented
Jul 6, 2023
| @@ -126,9 +126,6 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node, | |||
| _encoding[1] = sensor_msgs::image_encodings::MONO8; // ROS message type | |||
| _encoding[2] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type | |||
| _encoding[3] = sensor_msgs::image_encodings::RGB8; // ROS message type | |||
|
|
|||
| // Infrared stream | |||
| _format[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8; | |||
There was a problem hiding this comment.
This variable is not used anywhere.
Arun-Prasad-V
commented
Jul 6, 2023
Arun-Prasad-V
commented
Jul 6, 2023
Nir-Az
reviewed
Jul 6, 2023
SamerKhshiboun
approved these changes
Jul 17, 2023
|
Tested with D455 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Updated the default supported format of Infra0 stream to "RS2_FORMAT_RGB8".
If this Infra0 stream is enabled, we can't open infra1 and infra2. But, by default all the streams are enabled in ROS2 wrapper.
So, had to set the default value of 'enable_infra' param to 'false' which will disable infra0 stream during init.