Re: Depth compression in rtabmap_msgs/SensorData

Posted by ana on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Depth-compression-in-rtabmap-msgs-SensorData-tp10208p10212.html

In case anyone else has this issue in the future:

The depth images can be uncompressed by combining all four 8 bit channels as a single 32 bit float and then converting this 32 bit float to a 16 bit uint by removing NaNs and any values greater than 2^16.