From ba453715912040354919b21a56c65127d106ea66 Mon Sep 17 00:00:00 2001
From: chy <1274653465@qq.com>
Date: Sun, 17 Nov 2024 20:31:13 +0800
Subject: [PATCH] TODO: fix depth publish in ROS

---
 .../Serializers/SensorMsgs/CompressedImageMsgSerializer.cs     | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/CompressedImageMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/CompressedImageMsgSerializer.cs
index 11dc8844..65777f33 100644
--- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/CompressedImageMsgSerializer.cs
+++ b/Assets/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()