What is the format of a depth image in Gazebo 11?

Hey, I was wondering, what exactly the format of the depth image form a depth sensor (like ros kinect) is. So far I have not found anything yet. Shouldnt it be something like png or jpg nontheless? And is there any page where I can find a detailed description of the konversion into an image. I would like to know how much error the image has (quantization).

Thank you guys for help

Update:

As I have found out, the format of a depth image is R_Float32. But I still have no idea how high the quantization error is.

Asked by Zeckurbo on 2020-12-17 15:10:44 UTC

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Answers

I'ts not png or png but just an array of float values. If you're getting depth image data through a topic, here is an example callback how to to get data out from the image: https://github.com/osrf/gazebo/blob/gazebo11/test/integration/depth_camera.cc#L42

Asked by iche033 on 2020-12-18 13:47:14 UTC

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Thanks, do you know any source where I can read directly which format a sensor output has? An do you know anything about the quantization error?

Asked by Zeckurbo on 2020-12-22 12:13:36 UTC