Fix instance problem ros image

leggedrobotics · Aug 16, 2023 · fcf89e0 · fcf89e0
1 parent 4651cb9
commit fcf89e0
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/wild_visual_navigation_ros/src/wild_visual_navigation_ros/ros_converter.py b/wild_visual_navigation_ros/src/wild_visual_navigation_ros/ros_converter.py
@@ -106,15 +106,14 @@ def ros_tf_to_torch(tf_pose, device="cpu"):
 
 
 def ros_image_to_torch(ros_img, desired_encoding="rgb8", device="cpu"):
-    if isinstance(ros_img, Image):
+    if type(ros_img).__name__ is "_sensor_msgs__Image":
         np_image = CV_BRIDGE.imgmsg_to_cv2(ros_img, desired_encoding=desired_encoding)
 
-    elif isinstance(ros_img, CompressedImage):
+    elif type(ros_img).__name__ is "_sensor_msgs__CompressedImage":
         np_arr = np.fromstring(ros_img.data, np.uint8)
         np_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
         if "bgr" in ros_img.format:
             np_image = cv2.cvtColor(np_image, cv2.COLOR_BGR2RGB)
-
     return TO_TENSOR(np_image).to(device)