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[SW-1465] Fix image stitching for greyscale images #499

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Oct 7, 2024
Merged

[SW-1465] Fix image stitching for greyscale images #499

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4 changes: 2 additions & 2 deletions spot_driver/src/image_stitcher/image_stitcher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,8 +327,8 @@ Image::SharedPtr MiddleCamera::stitch(const std::shared_ptr<const Image>& left,
// While the image is coming from the camera on the left of the robot, it sees the right side
// of the scene and vice versa. This may need to be extracted if this code is to be generalized
// for something other than the Boston Dynamics Spot Robot, as well as checking the homographies.
const auto scene_right = cv_bridge::toCvShare(left);
const auto scene_left = cv_bridge::toCvShare(right);
const auto scene_right = cv_bridge::toCvShare(left, sensor_msgs::image_encodings::BGR8);
const auto scene_left = cv_bridge::toCvShare(right, sensor_msgs::image_encodings::BGR8);

// Transform the images into the virtual center camera space
cv::warpPerspective(scene_left->image, warped_images_[0], homography_[0], result_size_);
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