good first issuekind: todomodule: ioneeds: author reply
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描述
In openni_device_oni.cpp:
boost::shared_ptr<openni_wrapper::Image>
openni_wrapper::DeviceONI::getCurrentImage(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ()
{
return (boost::shared_ptr<openni_wrapper::Image> (new openni_wrapper::ImageRGB24 (image_meta_data)));
}
This leads to weirdly corrupted images when .oni files that have a different encoding are played back in pcl_openni_viewer or when using the -oni switch in kinfu_app.
The openni_wrapper::DeviceONI::DeviceONI constructor should check the XnPixelFormat returned by image_generator_.GetPixelFormat() and pick the correct Image type, or at least throw an error if that's not RGB instead of wrongly interpreting the data.