From 069bc5b58e0cda5f866968603182d178840eb100 Mon Sep 17 00:00:00 2001
From: Ryosuke Tajima <ryosuke.tajima@opensource-robotics.tokyo.jp>
Date: Tue, 9 Jul 2019 08:33:33 +0900
Subject: [PATCH] Add monochrome format support (#54)
---
libuvc_camera/src/camera_driver.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index 88c8801..aa4abce 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -192,6 +192,16 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
}
image->encoding = "bgr8";
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
+ } else if (frame->frame_format == UVC_FRAME_FORMAT_GRAY8) {
+ image->encoding = "8UC1";
+ image->step = image->width;
+ image->data.resize(image->step * image->height);
+ memcpy(&(image->data[0]), frame->data, frame->data_bytes);
+ } else if (frame->frame_format == UVC_FRAME_FORMAT_GRAY16) {
+ image->encoding = "16UC1";
+ image->step = image->width*2;
+ image->data.resize(image->step * image->height);
+ memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_YUYV) {
// FIXME: uvc_any2bgr does not work on "yuyv" format, so use uvc_yuyv2bgr directly.
uvc_error_t conv_ret = uvc_yuyv2bgr(frame, rgb_frame_);
@@ -318,6 +328,8 @@ enum uvc_frame_format CameraDriver::GetVideoMode(std::string vmode){
return UVC_COLOR_FORMAT_MJPEG;
} else if (vmode == "gray8") {
return UVC_COLOR_FORMAT_GRAY8;
+ } else if (vmode == "gray16") {
+ return UVC_COLOR_FORMAT_GRAY16;
} else {
ROS_ERROR_STREAM("Invalid Video Mode: " << vmode);
ROS_WARN_STREAM("Continue using video mode: uncompressed");
--
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