I encountered an issue when using usb_cam to launch my Logitech camera(C9xx) and converting the ROS image to ViSP format with visp_bridge. The converted image appears distorted.
Upon reviewing the visp_bridge source code, I noticed it does not support the YUV format.
Could you consider adding support for this format in visp_bridge? I suggest incorporating the YUV422_YUY2 format specifically. This addition would align visp_bridge with the capabilities of sensor_msgs, the vpImageConvert Class, and usb_cam, all of which support the YUV422_YUY2 format.
Would it be acceptable for me to create a Pull Request to introduce this feature, or would you prefer to implement it differently?
Below is a proposed implementation snippet for handling YUV422_YUY2 format images in the toVispImageRGBa function:
vpImage<vpRGBa> toVispImageRGBa(const sensor_msgs::msg::Image &src)
{
using sensor_msgs::image_encodings::BGR8;
using sensor_msgs::image_encodings::BGRA8;
using sensor_msgs::image_encodings::MONO8;
using sensor_msgs::image_encodings::RGB8;
using sensor_msgs::image_encodings::RGBA8;
using sensor_msgs::image_encodings::YUV422_YUY2;
vpImage<vpRGBa> dst(src.height, src.width);
if (src.encoding == sensor_msgs::image_encodings::MONO8)
for (unsigned i = 0; i < dst.getWidth(); ++i) {
for (unsigned j = 0; j < dst.getHeight(); ++j) {
dst[j][i] = vpRGBa(src.data[j * src.step + i], src.data[j * src.step + i], src.data[j * src.step + i]);
}
}
else if (src.encoding == sensor_msgs::image_encodings::YUV422_YUY2) {
int index = 0;
unsigned char Y0, U, Y1, V;
for (unsigned i = 0; i < src.width; i += 2) {
for (unsigned j = 0; j < src.height; j++) {
index = j * src.step + i * 2;
Y0 = src.data[index];
U = src.data[index + 1];
Y1 = src.data[index + 2];
V = src.data[index + 3];
auto convertYUVtoRGB = [](unsigned char Y, unsigned char U, unsigned char V) -> vpRGBa {
int C = Y - 16;
int D = U - 128;
int E = V - 128;
unsigned char R = std::min(std::max((298 * C + 409 * E + 128) >> 8, 0), 255);
unsigned char G = std::min(std::max((298 * C - 100 * D - 208 * E + 128) >> 8, 0), 255);
unsigned char B = std::min(std::max((298 * C + 516 * D + 128) >> 8, 0), 255);
return vpRGBa(R, G, B);
};
dst[j][i] = convertYUVtoRGB(Y0, U, V);
if (i + 1 < src.width) { // Make sure not to exceed the image width
dst[j][i + 1] = convertYUVtoRGB(Y1, U, V);
}
}
}
} else {
unsigned nc = sensor_msgs::image_encodings::numChannels(src.encoding);
for (unsigned i = 0; i < dst.getWidth(); ++i) {
for (unsigned j = 0; j < dst.getHeight(); ++j) {
dst[j][i] = vpRGBa(src.data[j * src.step + i * nc + 0], src.data[j * src.step + i * nc + 1],
src.data[j * src.step + i * nc + 2]);
}
}
}
return dst;
}
Hello,
I encountered an issue when using
usb_cam
to launch my Logitech camera(C9xx) and converting the ROS image to ViSP format withvisp_bridge
. The converted image appears distorted.This limitation is similar to the issue discussed in ros2/common_interfaces #76.
Upon reviewing the
visp_bridge
source code, I noticed it does not support the YUV format.Could you consider adding support for this format in
visp_bridge
? I suggest incorporating the YUV422_YUY2 format specifically. This addition would alignvisp_bridge
with the capabilities of sensor_msgs, the vpImageConvert Class, and usb_cam, all of which support the YUV422_YUY2 format.Would it be acceptable for me to create a Pull Request to introduce this feature, or would you prefer to implement it differently? Below is a proposed implementation snippet for handling YUV422_YUY2 format images in the toVispImageRGBa function: