k4a_result_t K4AROSDevice::renderDepthToROS()

in src/k4a_ros_device.cpp [461:485]

• 20 lines of code
• 3 McCabe index (conditional complexity)

k4a_result_t K4AROSDevice::renderDepthToROS(sensor_msgs::ImagePtr& depth_image, k4a::image& k4a_depth_frame)
{
  cv::Mat depth_frame_buffer_mat(k4a_depth_frame.get_height_pixels(), k4a_depth_frame.get_width_pixels(), CV_16UC1,
                                 k4a_depth_frame.get_buffer());
  std::string encoding;

  if (params_.depth_unit == sensor_msgs::image_encodings::TYPE_32FC1) {
    // convert from 16 bit integer millimetre to 32 bit float metre
    depth_frame_buffer_mat.convertTo(depth_frame_buffer_mat, CV_32FC1, 1.0 / 1000.0f);
    encoding = sensor_msgs::image_encodings::TYPE_32FC1;
  }
  else if (params_.depth_unit == sensor_msgs::image_encodings::TYPE_16UC1) {
    // source data is already in 'K4A_IMAGE_FORMAT_DEPTH16' format
    encoding = sensor_msgs::image_encodings::TYPE_16UC1;
  }
  else {
    ROS_ERROR_STREAM("Invalid depth unit: " << params_.depth_unit);
    return K4A_RESULT_FAILED;
  }

  depth_image =
      cv_bridge::CvImage(std_msgs::Header(), encoding, depth_frame_buffer_mat).toImageMsg();

  return K4A_RESULT_SUCCEEDED;
}