Changed to rgb8 encoding.

casiarobot · Nov 20, 2017 · 9f02598 · 9f02598
1 parent 47c6d55
commit 9f02598
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/darknet_ros/config/ros.yaml b/darknet_ros/config/ros.yaml
@@ -29,6 +29,6 @@ publishers:
 image_view:
 
   enable_opencv: true
-  use_darknet: false
+  use_darknet: true
   wait_key_delay: 2
   enable_console_output: false
diff --git a/darknet_ros/src/YoloObjectDetector.cpp b/darknet_ros/src/YoloObjectDetector.cpp
@@ -304,7 +304,7 @@ void YoloObjectDetector::cameraCallback(const sensor_msgs::ImageConstPtr& msg) {
   cv_bridge::CvImagePtr cam_image;
 
   try {
-    cam_image = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+    cam_image = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
   }
   catch (cv_bridge::Exception& e) {
     ROS_ERROR("cv_bridge exception: %s", e.what());
@@ -331,7 +331,7 @@ void YoloObjectDetector::checkForObjectsActionGoalCB() {
   cv_bridge::CvImagePtr cam_image;
 
   try {
-    cam_image = cv_bridge::toCvCopy(imageAction, sensor_msgs::image_encodings::BGR8);
+    cam_image = cv_bridge::toCvCopy(imageAction, sensor_msgs::image_encodings::RGB8);
   }
   catch (cv_bridge::Exception& e) {
      ROS_ERROR("cv_bridge exception: %s", e.what());
@@ -363,7 +363,7 @@ bool YoloObjectDetector::publishDetectionImage(const cv::Mat& detectionImage) {
   cv_bridge::CvImage cvImage;
   cvImage.header.stamp = ros::Time::now();
   cvImage.header.frame_id = "detection_image";
-  cvImage.encoding = sensor_msgs::image_encodings::BGR8;
+  cvImage.encoding = sensor_msgs::image_encodings::RGB8;
   cvImage.image    = detectionImage;
   detectionImagePublisher_.publish(*cvImage.toImageMsg());
   ROS_DEBUG("Detection image has been published.");