the drone_detect package seems not work about ego-planner-v2 HOT 2 OPEN

i find this question is caused by the .toimagemsg() function not work. it seems is due to the encoding stratage. the depth image encoding is 32FC1. dose the cv bridge support this encoding stratage? the imshow() seems ok,but the ros publish image is false , and i use the ubuntu 20.04 ,ros noetic.

`void DroneDetector::rcvDepthImgCallback(const sensor_msgs::ImageConstPtr& depth_img)
{
/* get depth image */
cv_bridge::CvImagePtr cv_ptr;
cv_ptr = cv_bridge::toCvCopy(depth_img, depth_img->encoding);
cv_ptr->image.copyTo(depth_img_);

// cv::Mat depth_img_ = cv_bridge::toCvShare(depth_img)->image;

debug_start_time_ = ros::Time::now();

Eigen::Vector2i true_pixel[max_drone_num_]; //数组
for (int i = 0; i < max_drone_num_; i++) {
if (in_depth_[i]) {
detect(i, true_pixel[i]);
}
}

cv_bridge::CvImage out_msg;
for (int i = 0; i < max_drone_num_; i++) {
if (in_depth_[i]) {
// erase hit pixels in depth
for(int k = 0; k < int(hit_pixels_[i].size()); k++) {
// depth_img_.at(hit_pixels_[i]k, hit_pixels_[i]k) = 0;
uint16_t row_ptr;
row_ptr = depth_img_.ptr<uint16_t>(hit_pixels_[i]k);
((row_ptr+hit_pixels_[i]k)) = 0.0;
// std::cout << "remove ______" <<std::endl;
}
}
}
cv::imshow("Image Viewer", depth_img);
cv::waitKey(10);
// depth_img
debug_end_time = ros::Time::now();
// ROS_WARN("cost_total_time = %lf", (debug_end_time - debug_start_time).toSec()*1000.0);
out_msg.header = depth_img->header;
out_msg.encoding = depth_img->encodingsss;
// std::cout << "remove __________"<< out_msg.encoding <<std::endl;
out_msg.image = depth_img.clone();

// sensor_msgs::ImagePtr modified_depth_msg = cv_bridge::CvImage(depth_img->header, "32FC1", depth_img_).toImageMsg();

new_depth_img_pub_.publish(out_msg.toImageMsg());

std_msgs::String msg;
std::stringstream ss;
if(debug_flag_) {
for (int i = 0; i < max_drone_num_; i++) {
if (in_depth_[i]) {
// add bound box in colormap
// cv::Rect rect(bbox_lu.x, bbox_lu.y, bbox_rd.x, bbox_rd.y);//左上坐标（x,y）和矩形的长(x)宽(y)
cv::rectangle(depth_img, cv::Rect(searchbox_lu[i], searchbox_rd[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0);
cv::rectangle(depth_img, cv::Rect(boundingbox_lu_[i], boundingbox_rd_[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0);
if (debug_detect_result_[i] == 1) {
ss << "no enough " << hit_pixels_[i].size();
} else if(debug_detect_result_[i] == 2) {
ss << "success";
}
} else {
ss << "no detect";
}
}
out_msg.header = depth_img->header;
out_msg.encoding = depth_img->encoding;
out_msg.image = depth_img_.clone();
debug_depth_img_pub_.publish(out_msg.toImageMsg());
msg.data = ss.str();
debug_info_pub_.publish(msg);
}
}`

from ego-planner-v2.

This part of code may help:

from ego-planner-v2.