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Add static cast for buffer data #92

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Add static cast for buffer data #92

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d12d596
Add static cast for buffer data
luca-della-vedova Apr 23, 2026
ceccf0d
Force C++-17 for rmf_visualization_schedule
luca-della-vedova Apr 23, 2026
fb0870c
Revert "Force C++-17 for rmf_visualization_schedule"
luca-della-vedova May 4, 2026
a05b8d1
Fix deprecation warning
mxgrey May 6, 2026
4e370c1
Merge branch 'main' into luca/floorplan_rolling
luca-della-vedova May 25, 2026
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14 changes: 8 additions & 6 deletions rmf_visualization_floorplans/src/FloorplanVisualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
_map_sub = this->create_subscription<BuildingMap>(
"/map",
transient_qos,
[=](BuildingMap::ConstSharedPtr msg)
[this](BuildingMap::ConstSharedPtr msg)
{
if (msg->levels.empty())
return;
Expand All @@ -74,7 +74,8 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
continue;

cv::Mat cv_img = cv::imdecode(
cv::Mat(level.images[0].data), cv::IMREAD_GRAYSCALE);
cv::Mat(static_cast<std::vector<uint8_t>>(level.images[0].data)),
cv::IMREAD_GRAYSCALE);
auto it = level.images.begin();
++it;
// We blend all the other images into the first image
Expand All @@ -84,7 +85,8 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
for (; it != level.images.end(); ++it)
{
cv::Mat next_img = cv::imdecode(
cv::Mat(it->data), cv::IMREAD_GRAYSCALE);
cv::Mat(static_cast<std::vector<uint8_t>>(it->data)),
cv::IMREAD_GRAYSCALE);
cv::addWeighted(cv_img, 0.7, next_img, 0.3, 0.0, cv_img);
}
const auto& image = level.images[0];
Expand Down Expand Up @@ -124,12 +126,12 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
_param_sub = this->create_subscription<RvizParam>(
"rmf_visualization/parameters",
rclcpp::SystemDefaultsQoS().keep_last(10),
[=](RvizParam::ConstSharedPtr msg)
[this](RvizParam::ConstSharedPtr msg)
{
if (msg->map_name.empty() || msg->map_name == _current_level)
if (msg->map_name.empty() || msg->map_name == this->_current_level)
return;

_current_level = msg->map_name;
this->_current_level = msg->map_name;
publish_grid();
});

Expand Down
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