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replace deprecated encodings 'yuv422' and 'yuv422_yuy2' #1276

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merged 1 commit into from
Oct 3, 2024
Merged

replace deprecated encodings 'yuv422' and 'yuv422_yuy2' #1276

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4 changes: 2 additions & 2 deletions rviz_default_plugins/include/rviz_default_plugins/displays/image/ros_image_texture.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,8 +128,8 @@ class ROSImageTexture : public ROSImageTextureIface
const T * data_ptr, size_t num_elements, T & min_value, T & max_value);
template<typename T>
ImageData convertTo8bit(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertYUV422ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertYUV422_YUY2ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertUYVYToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertYUYVToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);

ImageData setFormatAndNormalizeDataIfNecessary(
const std::string & encoding, const uint8_t * data_ptr, size_t data_size_in_bytes);
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24 changes: 12 additions & 12 deletions rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,8 +206,8 @@ struct uyvy
uint8_t y1;
};

// Function converts src_img from yuv422 format to rgb
static void imageConvertYUV422ToRGB(
// Function converts src_img from UYVY format to rgb
static void imageConvertUYVYToRGB(
uint8_t * dst_img, uint8_t * src_img,
int dst_start_row, int dst_end_row,
int dst_num_cols, uint32_t stride_in_bytes)
Expand Down Expand Up @@ -266,8 +266,8 @@ static void imageConvertYUV422ToRGB(
}
}

// Function converts src_img from yuv422_yuy2 format to rgb
static void imageConvertYUV422_YUY2ToRGB(
// Function converts src_img from YUYV format to rgb
static void imageConvertYUYVToRGB(
uint8_t * dst_img, uint8_t * src_img,
int dst_start_row, int dst_end_row,
int dst_num_cols, uint32_t stride_in_bytes)
Expand Down Expand Up @@ -411,27 +411,27 @@ ROSImageTexture::convertTo8bit(const uint8_t * data_ptr, size_t data_size_in_byt
}

ImageData
ROSImageTexture::convertYUV422ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes)
ROSImageTexture::convertUYVYToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes)
{
size_t new_size_in_bytes = data_size_in_bytes * 3 / 2;

uint8_t * new_data = new uint8_t[new_size_in_bytes];

imageConvertYUV422ToRGB(
imageConvertUYVYToRGB(
new_data, const_cast<uint8_t *>(data_ptr),
0, height_, width_, stride_);

return ImageData(Ogre::PF_BYTE_RGB, new_data, new_size_in_bytes, true);
}

ImageData
ROSImageTexture::convertYUV422_YUY2ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes)
ROSImageTexture::convertYUYVToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes)
{
size_t new_size_in_bytes = data_size_in_bytes * 3 / 2;

uint8_t * new_data = new uint8_t[new_size_in_bytes];

imageConvertYUV422_YUY2ToRGB(
imageConvertYUYVToRGB(
new_data, const_cast<uint8_t *>(data_ptr),
0, height_, width_, stride_);

Expand Down Expand Up @@ -474,10 +474,10 @@ ROSImageTexture::setFormatAndNormalizeDataIfNecessary(
return ImageData(Ogre::PF_BYTE_L, data_ptr, data_size_in_bytes, false);
} else if (encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
return convertTo8bit<float>(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::YUV422) {
return convertYUV422ToRGBData(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::YUV422_YUY2) {
return convertYUV422_YUY2ToRGBData(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::UYVY) {
return convertUYVYToRGBData(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::YUYV) {
return convertYUYVToRGBData(data_ptr, data_size_in_bytes);
} else {
throw UnsupportedImageEncoding(encoding);
}
Expand Down