Merge pull request #732 from stereolabs/fix_openni_mode

Fix sensor_msgs type for depth image in OpenNI mode

Author: Myzhar

latest_changes.md

@@ -1,6 +1,10 @@
 LATEST CHANGES
 ==============
 
+OpenNI mode fix (2021-06-15)
+----------------------------
+- Fix sensor_msgs type for depth image in OpenNI mode, from `sensor_msgs::image_encodings::mono16` to `sensor_msgs::image_encodings::TYPE_16UC1`. Depth image in OpenNI mode is now compatible with the nodelet `depthimage_to_laserscan`
+
 v3.5.x
 ---------
 - Add support for ROS Noetic

zed_nodelets/src/tools/src/sl_tools.cpp

@@ -238,7 +238,7 @@ void imageToROSmsg(sensor_msgs::ImagePtr imgMsgPtr, sl::Mat img, std::string fra
       break;
 
     case sl::MAT_TYPE::U16_C1: /**< unsigned short 1 channel.*/
-      imgMsgPtr->encoding = sensor_msgs::image_encodings::MONO16;
+      imgMsgPtr->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
       memcpy((uint16_t*)(&imgMsgPtr->data[0]), img.getPtr<sl::ushort1>(), size);
       break;
   }

zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp

@@ -129,7 +129,7 @@ void ZEDWrapperNodelet::onInit()
 
   if (mOpenniDepthMode)
   {
-    NODELET_INFO_STREAM("Openni depth mode activated -> Units: mm, Encoding: MONO16");
+    NODELET_INFO_STREAM("Openni depth mode activated -> Units: mm, Encoding: TYPE_16UC1");
   }
   depth_topic_root += "/depth_registered";
 
@@ -1912,7 +1912,7 @@ void ZEDWrapperNodelet::publishDepth(sensor_msgs::ImagePtr imgMsgPtr, sl::Mat de
   imgMsgPtr->is_bigendian = !(*(char*)&num == 1);
 
   imgMsgPtr->step = imgMsgPtr->width * sizeof(uint16_t);
-  imgMsgPtr->encoding = sensor_msgs::image_encodings::MONO16;
+  imgMsgPtr->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
 
   size_t size = imgMsgPtr->step * imgMsgPtr->height;
   imgMsgPtr->data.resize(size);