ROS2Camera Helper Node in ActionGraph to publish the depth map of the camera

[liuqiran1997]

Hello,
Isaac Docker I’m using now, version 2023.1.1. I added a camera in isaac and added a ROS2Camera Helper Node in ActionGraph to publish the depth map of the camera, and the data type of the depth map here is 32FC1, how can I change the data of the depth map to 16UC1.
Thanks in advance for your reply.

[ph.silva1]

Any advances? I am also stuck at converting the depth map to meters.

[Ayush_G]

@liuqiran1997 We currently only support publishing depth images in the 32FC1 format. You could consider creating a ros node that subscribes to the depth image topic and manually converts the format for each value in the image to 16UC1. One such example of this is done here: numpy - Convert an image format from 32FC1 to 16UC1 - Stack Overflow

@ph.silva1 The float values in the Depth Images should be in meters as that is the units we use for the synthetic data sensor DistanceToImagePlane: Annotators Information — Omniverse Extensions latest documentation