Trying to work with unsupported encoding 32FC1!

[cagbal]

Hi guys, thanks for the beautiful package.

The RGB streaming is working fine, but I also want to stream out depth data using kinesis, but I am getting the following error. Is there any way to do it without losing the depth resolution?

[timrobotson]

Hi cagbal,

Would you be able to post how you're gathering the depth data, what hardware you're using, and the logs and errors you're seeing. I don't believe we've tried streaming depth data previously but I"ll check if anyone else on the team has got it working.

[cagbal]

Hi @timrobotson,

Thanks for the reply.

The exact setup:

• Orbbec Astra RGB-D camera.
• astra_camera ROS package
• kinesisvideo-encoder-ros1 package
• kinesisvideo-ros1 package

When I launch kinesisvideo-ros1 package, kinesisvideo-encoder-ros1 throws:

• Trying to work with unsupported encoding 32FC1!

Depth image:

• 640x480
• Single channel
• encoding 32FC1 written in the sensor_msgs/Image -- Encoding

These are all I got.

[AAlon]

Thanks for providing more information @cagbal. The video encoder encodes the input using h264 - a codec suited towards 3 channel x 8 bit images. It should be possible to support RGB-D input as single-channel floating point, but most likely we would have to convert it into RGB using OpenCV before we perform h264 encoding (as FP input is not fully supported by ffmpeg: https://trac.ffmpeg.org/ticket/3657). It's definitely something we'll be looking at in the future. Meanwhile, we'd greatly appreciate any contributions.

The other option is to stream using the streamer node (kinesisvideo-ros1 repository) directly, without going through video encoding. The usefulness of that would depend on what you're planning to do with the stream: some people wish to have stream consumers running on EC2 for computing-intensive processing and analysis on the raw data, while others just want to be able to view the stream via the Amazon Kinesis Video Streams web console. If the latter is what you're after, you'd definitely need to encode the images as video.

[cagbal]

Ah, I did not know that I can stream the video without encoding. Thanks for the info. I'll try.

Viewing the video via the Web console would be cool, but the main purpose is processing it.