Add monochrome format support (#54)

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");