From d8221109dc5d0dfc897da646511eda1d38567827 Mon Sep 17 00:00:00 2001 From: Robert Clarke Date: Tue, 4 Feb 2020 12:22:52 +0000 Subject: [PATCH 1/2] Fix output image encoding Image is converted to BGR at the top of doWork. If this conversion does not result in match the input encoding, the published image will have an incorrect encoding in the message. --- src/nodelet/lk_flow_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nodelet/lk_flow_nodelet.cpp b/src/nodelet/lk_flow_nodelet.cpp index 867b804f..a43a5105 100644 --- a/src/nodelet/lk_flow_nodelet.cpp +++ b/src/nodelet/lk_flow_nodelet.cpp @@ -263,7 +263,7 @@ class LKFlowNodelet : public opencv_apps::Nodelet cv::swap(prevGray, gray); // Publish the image. - sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, msg->encoding, image).toImageMsg(); + sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::BGR8, image).toImageMsg(); img_pub_.publish(out_img); msg_pub_.publish(flows_msg); } From 1a408f412ee3a9e60bc28ad70bbcebf80d9a4a38 Mon Sep 17 00:00:00 2001 From: Robert Clarke Date: Tue, 4 Feb 2020 13:05:47 +0000 Subject: [PATCH 2/2] Update for clang format --- src/nodelet/lk_flow_nodelet.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/nodelet/lk_flow_nodelet.cpp b/src/nodelet/lk_flow_nodelet.cpp index a43a5105..ebd00c06 100644 --- a/src/nodelet/lk_flow_nodelet.cpp +++ b/src/nodelet/lk_flow_nodelet.cpp @@ -263,7 +263,8 @@ class LKFlowNodelet : public opencv_apps::Nodelet cv::swap(prevGray, gray); // Publish the image. - sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::BGR8, image).toImageMsg(); + sensor_msgs::Image::Ptr out_img = + cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::BGR8, image).toImageMsg(); img_pub_.publish(out_img); msg_pub_.publish(flows_msg); }