16 #include <cv_bridge/cv_bridge.h>
19 #include <sensor_msgs/Image.h>
20 #include <sensor_msgs/image_encodings.h>
23 using namespace sensor_msgs;
25 using namespace cv_bridge;
31 const std_msgs::Header& msg_header, sensor_msgs::Image& left,
32 sensor_msgs::Image& right, stereo_msgs::DisparityImage& disparity)
37 cv_bridge::CvImage img_bridge;
39 CvImage(left.header, sensor_msgs::image_encodings::BGR8, cvImgL);
40 img_bridge.toImageMsg(left);
41 left.encoding =
"bgr8";
42 left.header = msg_header;
49 cv_bridge::CvImage img_bridge2;
51 CvImage(right.header, sensor_msgs::image_encodings::BGR8, cvImgR);
52 img_bridge2.toImageMsg(right);
53 right.encoding =
"bgr8";
54 right.header = msg_header;
62 cv_bridge::CvImage img_bridge3;
63 img_bridge3 = CvImage(
64 disparity.header, sensor_msgs::image_encodings::BGR8, cvImgD);
65 img_bridge3.toImageMsg(disparity.image);
66 disparity.image.encoding =
"bgr8";
67 disparity.image.header = msg_header;