almost working. only raw messages to be fixed in ros node

src/mvbluefox3_camera_driver.cpp

@@ -282,11 +282,81 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
 {
   ros::Time start_time = ros::Time::now();
 
-  char *image;
+  char *image = NULL;
   this->vcam_ptr[ncam]->GetImage(&image);
+  GetConfig(ncam);
+
+  std::string encoding;
+  encoding = CMvbluefox3::codings_str[this->vparams[ncam].pixel_format];
+
+  int bp = this->vcam_ptr[ncam]->GetBytesPixel();
+  int depth = this->vcam_ptr[ncam]->GetDepth();
+
+  bool ROSvalid = true;
+  switch (this->vparams[ncam].pixel_format)
+  {
+    case CMvbluefox3::raw: 
+      // switch (depth*bp) 
+      // {
+      //   case 8: encoding = "8UC1"; break;
+      //   case 16: encoding = "8UC2"; break;
+      //   case 24: encoding = "8UC3"; break;
+      //   case 32: encoding = "8UC4"; break;
+      //   default: ROS_WARN("Invalid depth. Depth not implemented for sensor_msgs."); break;
+      // }
+      encoding = "rgb8";
+      break; 
+    case CMvbluefox3::mono8: break; 
+    case CMvbluefox3::mono10: ROSvalid = false; break; 
+    case CMvbluefox3::mono12: ROSvalid = false; break; 
+    case CMvbluefox3::mono12v1: ROSvalid = false; break; 
+    case CMvbluefox3::mono12v2: ROSvalid = false; break; 
+    case CMvbluefox3::mono14: ROSvalid = false; break; 
+    case CMvbluefox3::mono16: encoding = "16UC1"; break;
+    case CMvbluefox3::rgb8: break; 
+    case CMvbluefox3::bgr8: break; 
+    case CMvbluefox3::bgr8p: ROSvalid = false; break; 
+    case CMvbluefox3::bgra8p: ROSvalid = false; break; 
+    case CMvbluefox3::bgr10: ROSvalid = false; break; 
+    case CMvbluefox3::bgr12: ROSvalid = false; break; 
+    case CMvbluefox3::bgr14: ROSvalid = false; break; 
+    case CMvbluefox3::bgr16: encoding = "16UC3"; break; 
+    case CMvbluefox3::bgra8: ROSvalid = false; break; 
+    case CMvbluefox3::yuv411uyyvyy: ROSvalid = false; break; 
+    case CMvbluefox3::yuv422: break; 
+    case CMvbluefox3::yuv422p: ROSvalid = false; break; 
+    case CMvbluefox3::yuv42210: ROSvalid = false; break; 
+    case CMvbluefox3::yuv422uyvy: ROSvalid = false; break; 
+    case CMvbluefox3::yuv422uyvy10: ROSvalid = false; break; 
+    case CMvbluefox3::yuv444: ROSvalid = false; break; 
+    case CMvbluefox3::yuv44410p: ROSvalid = false; break; 
+    case CMvbluefox3::yuv444uyv: ROSvalid = false; break; 
+    case CMvbluefox3::yuv444uyv10: ROSvalid = false; break; 
+  }
+
+  if (!ROSvalid)
+    ROS_WARN("mvBlueFOX3 pixel format %s no valid within ROS messages.",encoding.c_str());
+
+        //   else if(config.coding==RAW)
+        //   {
+        //     this->camera.Image_msg_->encoding=this->driver_.get_bayer_pattern();
+        //   }
+
+        //   else
+        //   {
+        //     if(config.depth==DEPTH24)
+        //       this->camera.Image_msg_->encoding="rgb8";
+        //     else if(config.depth==DEPTH48)
+        //       this->camera.Image_msg_->encoding="16UC3";
+        //     else
+        //       this->camera.Image_msg_->encoding="16UC3";
+        //   }
+        // }
+        // //
+
 
   sensor_msgs::fillImage(img_msg, 
-    CMvbluefox3::codings_str[this->vparams[ncam].pixel_format], 
+    encoding, 
     this->vparams[ncam].height,
     this->vparams[ncam].width,
     this->vcam_ptr[ncam]->GetImgLinePitch(),