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Add the YUY2 image encoding #78

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Merged
merged 2 commits into from
Nov 25, 2019
Merged

Add the YUY2 image encoding #78

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5d21825
Add the YUY2 image encoding
sgvandijk Nov 15, 2019
99114a2
Add number of channels and bit depth tests for YUV422 encodings
sgvandijk Nov 21, 2019
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14 changes: 10 additions & 4 deletions sensor_msgs/include/sensor_msgs/image_encodings.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,9 +96,11 @@ const char BAYER_GBRG16[] = "bayer_gbrg16";
const char BAYER_GRBG16[] = "bayer_grbg16";

// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
// with an 8-bit depth
// YUV 4:2:2 encodings with an 8-bit depth
// UYUV version: http://www.fourcc.org/pixel-format/yuv-uyvy
const char YUV422[] = "yuv422";
// YUYV version: http://www.fourcc.org/pixel-format/yuv-yuy2/
const char YUV422_YUY2[] = "yuv422_yuy2";

// Prefixes for abstract image encodings
const char ABSTRACT_ENCODING_PREFIXES[][5] = {
Expand Down Expand Up @@ -186,7 +188,9 @@ static inline int numChannels(const std::string & encoding)
}
}

if (encoding == YUV422) {
if (encoding == YUV422 ||
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Can you please add tests to https://github.com/ros2/common_interfaces/blob/81663c07b93889c3d0afda9b99cd5f1c7c98c1f2/sensor_msgs/test/test_image_encodings.cpp for numChannels and bitDepth? It looks like this was missed when the YUV422 one was added as well, so we may as well add tests for both that one and the new one. Thanks!

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Sure thing, done!

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Thanks! I'll run CI on this now.

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Great thanks! I guess the failures are not related to this?

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The Linux failures were an infrastructure issue; the job got automatically restarted, but it doesn't propagate that back to the issue, so I just manually updated it. It looks good now.

The Windows failure was because of a typo in how I launched it. I've now fixed that typo and its running again.

encoding == YUV422_YUY2)
{
return 2;
}

Expand Down Expand Up @@ -244,7 +248,9 @@ static inline int bitDepth(const std::string & encoding)
}
}

if (encoding == YUV422) {
if (encoding == YUV422 ||
encoding == YUV422_YUY2)
{
return 8;
}

Expand Down
4 changes: 4 additions & 0 deletions sensor_msgs/test/test_image_encodings.cpp
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Expand Up @@ -52,6 +52,8 @@ TEST(sensor_msgs, NumChannels)
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC"), 1);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC3"), 3);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC10"), 10);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("yuv422"), 2);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("yuv422_yuy2"), 2);
}

TEST(sensor_msgs, bitDepth)
Expand All @@ -70,4 +72,6 @@ TEST(sensor_msgs, bitDepth)
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC3"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC10"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("yuv422"), 8);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("yuv422_yuy2"), 8);
}