Comments (2)
I ran into this exact issue as well and found two ways to fix it:
A. Convert the image before rectification:
`cv::cvtColor(cv_img_raw->image, cv_img_debayer_->image, cv::COLOR_BayerBG"BGR);'
'cv_bridge_img_rect_->encoding = "rgb8";'
B. Publish the rectified image via image_transport instead of ros::Publisher*
See this pull request on the newer version of this driver:
basler/pylon-ros-camera#11
This is the better solution in my opinion, as it is still generic to image formats and I'd want to use image_transport for publishing images anyways.
Because of solution B I actually think the issue is that ros::Publisher* does not support the 'bayer_bggr8' encoding.
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I've run into this as well. In other CV applications a de-Bayering step is required before rectification to calculate the color values for each pixel from their compressed representation. I think the problem is that at line 521 in pylon_camera_node.cpp
the raw image data is passed to rectifyImage
without accounting for compression, which results in the loss of the compressed colors as the pixels get shifted around.
pylon_camera/src/pylon_camera/pylon_camera_node.cpp
Lines 513 to 523 in 2a7a068
This might be tricky to fix while still keeping the node's image processing pipeline generic to image formats. One option would be to check the encoding at line 517 and convert to an uncompressed image format if needed.
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Related Issues (20)
- Problems with compiling
- Pylon software debian download gives 404 HOT 1
- Error Payload data on publish images HOT 7
- Grabbing image unsuccesfully
- graping image from multi-camera HOT 1
- Default config/MTU problem HOT 3
- Changing Capture Resolution HOT 1
- The device is currently in use by another application! HOT 1
- How to set ROI? HOT 2
- unable to process source HOT 2
- Missing opencv dependency on installation HOT 1
- Cameras keep losing connection HOT 5
- Is there a way to set the camera width and height? HOT 1
- Problem with Jetson Nano
- timestampt incorrect HOT 1
- Basler Camera requires Dockercontainer restart
- Very low frame rate in ROS
- Basler acA2500-14gc (23363392) Image acquisition on "Basler acA2500-14gc (23363392)" failed! Error: 0xe1000014 "The buffer was incompletely grabbed.
- Error in README installation
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