Test with color images

[andreucm]

Test with color images. Just a global check that everything works with color images

[obohigas]

Still to check exactly why, but there is probably a DC supply issue when connected to the 12V output of a UR10.
When UR is connected, PtGrey driver provides an image_raw which has empty data field:
data: [ ]
If this is happening and the UR is turned off, image_raw starts returning a filled data field, and everything starts to work.

[carlosjoserg]

DC supply from UR says 12V, 100mA, check user manual, page I-27

PtGrey Max power requirements is 2.5W, which is around 200mA, check user manual, page 4

[carlosjoserg]

Looks like it was network saturation, see: https://betarobots.slack.com/files/carlos/F58F9REDR/img_20170504_112828.jpg

Anyway, better error handling of empty image is advised here

[obohigas]

@andreucm , maybe do you know: a pcl weights the same as a 3-channel image?

[andreucm]

depending on the size!
The amount of memory would be:

• cloud<double,XYZ>: h x w x 3 x 8Bytes = ... [Bytes]
• image<8bits,RGB>: h x w x 3 x 1Byte = ... [Bytes]

so for the same size (h,w), a cloud allocates 8 times more memory than an image.