ROS压缩深度图收听

ROS压缩深度图像收听是真的麻烦，自己记录一下，针对32FC1的压缩深度图。

import struct, cv2
import numpy as np

def depthcompressCB(data):
    nparr = np.fromstring(data.data[12:], np.uint8)
    depthraw = cv2.imdecode(nparr, cv2.IMREAD_ANYDEPTH)
    # 16UC1的到上面就可以了
    rawheader = data.data[:12}
    [fmt, dqA, dqB] = struct.unpack('iff', rawheader)
    depthimg = dqA / (depthraw.astype(np.float32) - dqB)
    depthimg[depthraw==0] = 0