Re: Depth compression in rtabmap_msgs/SensorData

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Depth-compression-in-rtabmap-msgs-SensorData-tp10208p10218.html

If depth images are 32 bits float, they are compressed with opencv as RGBA images. See c++ code to see how it is handled:
https://github.com/introlab/rtabmap/blob/623d056436946c35beb12199831f178a84eaad73/corelib/src/Compression.cpp#L140-L147

After decoding into RGBA, we recast the whole data structure from 8UC4 format to float 1 channel.