fix ros2 depth image conversion from float16 to float32 - #202
Merged
Conversation
This file contains hidden or 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
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
Fixes: #
About
This pull request adds support for converting 16-bit floating point depth images (with encoding
16FC1) to 32-bit floating point images (32FC1) in thePopulateImagePayloadFromMsgpackfunction. It also includes a new unit test to verify this functionality and makes minor test includes updates.Image conversion enhancements:
PopulateImagePayloadFromMsgpackinros2_conversion_utils.hppto handle16FC1input by converting half-precision (16-bit) float depth images to single-precision (32-bit) float images, including proper memory allocation, byte handling, and NaN handling for non-finite values.Testing improvements:
NativeHalfDepthImagePayloadIsConvertedToFloatinros2_conversion_utils_test.cppto verify correct conversion from 16-bit half-precision to 32-bit float images, including checks for value conversion and NaN propagation.ros2_conversion_utils_test.cppto add<cmath>and<cstring>for math and memory operations needed by the new test.How Has This Been Tested?
locally tested win+wsl2 echoing depth topic
Screenshots and videos (if appropriate):