Convert RGB to Monocular Image

A ros package to convert rgb/bgra8 image to monocular image. This is a ros2 package.

Requirements

This repository is tested with Ubuntu 22.04 and ROS humble.

Setup the repo

Create a ros2 catkin workspace and clone the repo inside the workspace:

mkdir -p ros2_ws/src
git clone https://github.com/ArghyaChatterjee/convert_rgb_to_mono_image.git

Build the package

This requires mostly standard ros messages which are already installed at the time of installing ros humble. No additional packages are needed to be installed.

cd ~/ros2_ws
colcon build --packages-select convert_rgb_to_mono_image
source install/setup.bash

Launch the conversion node

Modify the bgra_to_mono.launch.py file according to the topics that you want to publish the monocular image data of type mono8 from color image of type bgra8. Then launch the node like this:

ros2 launch convert_bgra_to_mono_image bgra_to_mono.launch.py

There is another launch file for zed camera for converting rgb8 type color image to mono8 type monocular image. If you want to test it, launch it like this:

ros2 launch convert_rgb_to_mono_image rgb_to_mono.launch.py

For bgra8 to mono8 conversion:

Input Right camera rgb topic echo:

$ ros2 topic echo /zed/zed_node/right/image_rect_color
header: 
  seq: 0
  stamp: 
    secs: 1729878717
    nsecs: 392199039
  frame_id: "zed_right_camera_optical_frame"
height: 1080
width: 1920
encoding: "bgra8"
is_bigendian: 0
step: 7680
data: [181, 204, 212, 255, 181, ..]

Output Right camera mono topic echo:

$ ros2 topic echo /zed/zed_node/right_gray/image_rect_gray
header: 
  seq: 1044
  stamp: 
    secs: 1729878741
    nsecs: 844533920
  frame_id: "zed_right_camera_optical_frame"
height: 1080
width: 1920
encoding: "mono8"
is_bigendian: 0
step: 1920
data: [247, 247, 247, 247, 247, ..]

For rgb8 to mono8 conversion: