TODO: fix depth publish in ROS

Field-Robotics-Japan · Nov 17, 2024 · ba45371 · ba45371
1 parent e4f1c15
commit ba45371
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...ts/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/CompressedImageMsgSerializer.cs b/...ts/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/CompressedImageMsgSerializer.cs
@@ -35,6 +35,9 @@ public override void Init()
             _header.Init();
             _sourceInterface = _source as ITextureInterface;
             _msg.format = "jpeg";
+            // FIXME: Depth image should not be compressed as jpeg.
+            //        It is normally encoded as 32FC1 and 16UC1, whose units are meters and millimeters respectively.
+            //        So we need a new serializer for depth images.
         }
 
         public override CompressedImageMsg Serialize()