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Add YUV422 support (do not automatically turn into RGB) #34

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Add YUV422 support (do not automatically turn into RGB) #34

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14 changes: 10 additions & 4 deletions src/gscam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,7 @@ namespace gscam {
nh_private_.param("image_encoding", image_encoding_, sensor_msgs::image_encodings::RGB8);
if (image_encoding_ != sensor_msgs::image_encodings::RGB8 &&
image_encoding_ != sensor_msgs::image_encodings::MONO8 &&
image_encoding_ != sensor_msgs::image_encodings::YUV422 &&
image_encoding_ != "jpeg") {
ROS_FATAL_STREAM("Unsupported image encoding: " + image_encoding_);
}
Expand Down Expand Up @@ -132,6 +133,8 @@ namespace gscam {
caps = gst_caps_new_simple("video/x-raw-rgb", NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) {
caps = gst_caps_new_simple("video/x-raw-gray", NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::YUV422) {
caps = gst_caps_new_simple("video/x-raw-yuv", NULL);
} else if (image_encoding_ == "jpeg") {
caps = gst_caps_new_simple("image/jpeg", NULL);
}
Expand Down Expand Up @@ -302,10 +305,11 @@ namespace gscam {
cinfo_pub_.publish(cinfo);
} else {
// Complain if the returned buffer is smaller than we expect
const unsigned int expected_frame_size =
image_encoding_ == sensor_msgs::image_encodings::RGB8
? width_ * height_ * 3
: width_ * height_;
const unsigned int expected_frame_size = width_ * height_ * (
(image_encoding_ == sensor_msgs::image_encodings::RGB8)*3
+ (image_encoding_ == sensor_msgs::image_encodings::YUV422)*2
+ (image_encoding_ == sensor_msgs::image_encodings::MONO8)
);

if (buf->size < expected_frame_size) {
ROS_WARN_STREAM( "GStreamer image buffer underflow: Expected frame to be "
Expand All @@ -330,6 +334,8 @@ namespace gscam {
// we can free the buffer allocated by gstreamer
if (image_encoding_ == sensor_msgs::image_encodings::RGB8) {
img->step = width_ * 3;
} else if (image_encoding_ == sensor_msgs::image_encodings::YUV422) {
img->step = width_ * 2;
} else {
img->step = width_;
}
Expand Down