Depth image decompression resulting in all NaN values.

[abstanton]

Hi, we are facing an issue where on decompression of a 32FC1 depth image compressed with the compressedDepth plugin, every pixel is NaN. A bag file including a few depth messages before compression can be found here . Has anyone faced a similar problem/have a possible solution? This is really hindering our ability to record/review data at the moment so any help would be very appreciated.

Steps to reproduce:

1. Run bag file with qos override for camera/depth/depth_registered topic to system default
2. Run ros2 run image_transport republish raw compressedDepth --ros-args --remap /in:=/camera/depth/depth_registered --remap /out/compressedDepth:=/camera/depth/depth_registered/compressedDepth
3. Run ros2 run image_transport republish compressedDepth raw --ros-args --remap /in/compressedDepth:=/camera/depth/depth_registered/compressedDepth --remap /out:=/camera/depth/depth
4. Try and visualise the /camera/depth/depth topic, it will be all NaN so will show as a black image, whereas visualising /camera/depth/depth_registered will show a normal depth image.

[siliconlad]

This is happening to us on ROS 2 Galactic on Ubuntu 20.04.

[jonselling]

It seems like it was (correctly) fixed in the PR for rolling, can we make an update to humble that just updates this line to use the correct config field?

[bmegli]

Apart from development rolling, the fix is released in Iron

image_transport_plugins/compressed_depth_image_transport/src/compressed_depth_publisher.cpp

Lines 67 to 68 in f7898e5

	{ //DEPTH_QUANTIZATION - Depth value at which the sensor accuracy is 1 m (Kinect: >75)
	ParameterValue((double)100.0),

---

I agree that at least this minimal fix is necessary to make humble compression functional.

Mentioning maintainers may capture their attention, @ijnek

[ijnek]

Yes! A PR woulld be greatly appreciated for this bug fix.

[mhubii]

what is the state of this? I was unfortunately relying on compressed depth functionality with no time for a check.

I am also receiving this error: #106 (comment)

Running Ubuntu 22.04 ROS 2 Humble

Update: I built this package from source and depth compression works well. Maybe a new binary release is necessary?