From b9e6443155aed6caf4b8318f015b15cf86d13ec3 Mon Sep 17 00:00:00 2001
From: Stefan Kohlbrecher <kohlbrecher@sim.tu-darmstadt.de>
Date: Mon, 29 Oct 2018 11:45:26 +0100
Subject: [PATCH] Fix ROS image output for uyvy uvc frame format input (#51)
---
libuvc_camera/src/camera_driver.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index fd03bbc..0158213 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -185,8 +185,13 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
image->encoding = "rgb8";
memcpy(&(image->data[0]), frame->data, frame->data_bytes);
} else if (frame->frame_format == UVC_FRAME_FORMAT_UYVY) {
- image->encoding = "yuv422";
- memcpy(&(image->data[0]), frame->data, frame->data_bytes);
+ uvc_error_t conv_ret = uvc_uyvy2bgr(frame, rgb_frame_);
+ if (conv_ret != UVC_SUCCESS) {
+ uvc_perror(conv_ret, "Couldn't convert frame to RGB");
+ return;
+ }
+ image->encoding = "bgr8";
+ memcpy(&(image->data[0]), rgb_frame_->data, rgb_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_);
--
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