From 7717ffd5383017fe79b19ff94cd4aff68607be4f Mon Sep 17 00:00:00 2001 From: Yadunund Date: Wed, 1 Feb 2023 16:22:27 +0800 Subject: [PATCH 1/2] Added override for encoding string Signed-off-by: Yadunund --- cv_bridge/CMakeLists.txt | 4 +- .../cv_mat_sensor_msgs_image_type_adapter.hpp | 24 +++++++- .../cv_mat_sensor_msgs_image_type_adapter.cpp | 56 ++++++++++++------- 3 files changed, 60 insertions(+), 24 deletions(-) diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt index 9526862c9..942cb0fac 100644 --- a/cv_bridge/CMakeLists.txt +++ b/cv_bridge/CMakeLists.txt @@ -3,9 +3,9 @@ project(cv_bridge) find_package(ament_cmake_ros REQUIRED) -# Default to C++14 +# Default to C++17 if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD 17) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") diff --git a/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp b/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp index 73d6f0ef8..c0b15a327 100644 --- a/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp +++ b/cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp @@ -26,6 +26,8 @@ #include "cv_bridge/visibility_control.h" +#include + namespace cv_bridge { namespace detail @@ -139,14 +141,16 @@ class ROSCvMatContainer ROSCvMatContainer( const cv::Mat & mat_frame, const std_msgs::msg::Header & header, - bool is_bigendian = is_bigendian_system); + bool is_bigendian = is_bigendian_system, + std::optional encoding_override = std::nullopt); /// Move the given cv::Mat into this class. CV_BRIDGE_PUBLIC ROSCvMatContainer( cv::Mat && mat_frame, const std_msgs::msg::Header & header, - bool is_bigendian = is_bigendian_system); + bool is_bigendian = is_bigendian_system, + std::optional encoding_override = std::nullopt); /// Copy the sensor_msgs::msg::Image into this contain and create a cv::Mat that references it. CV_BRIDGE_PUBLIC @@ -209,12 +213,18 @@ class ROSCvMatContainer CV_BRIDGE_PUBLIC bool is_bigendian() const; + + /// Return the encoding override if provided. + CV_BRIDGE_PUBLIC + std::optional + encoding_override() const; private: std_msgs::msg::Header header_; cv::Mat frame_; SensorMsgsImageStorageType storage_; bool is_bigendian_; + std::optional encoding_override_; }; } // namespace cv_bridge @@ -234,7 +244,14 @@ struct rclcpp::TypeAdapter(source.cv_mat().step); size_t size = source.cv_mat().step * source.cv_mat().rows; diff --git a/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp b/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp index 75f0e738d..507175182 100644 --- a/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp +++ b/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp @@ -100,21 +100,25 @@ ROSCvMatContainer::ROSCvMatContainer( ROSCvMatContainer::ROSCvMatContainer( const cv::Mat & mat_frame, const std_msgs::msg::Header & header, - bool is_bigendian) + bool is_bigendian, + std::optional encoding_override) : header_(header), frame_(mat_frame), storage_(nullptr), - is_bigendian_(is_bigendian) + is_bigendian_(is_bigendian), + encoding_override_(encoding_override) {} ROSCvMatContainer::ROSCvMatContainer( cv::Mat && mat_frame, const std_msgs::msg::Header & header, - bool is_bigendian) + bool is_bigendian, + std::optional encoding_override) : header_(header), frame_(std::forward(mat_frame)), storage_(nullptr), - is_bigendian_(is_bigendian) + is_bigendian_(is_bigendian), + encoding_override_(encoding_override) {} ROSCvMatContainer::ROSCvMatContainer( @@ -173,23 +177,31 @@ void ROSCvMatContainer::get_sensor_msgs_msg_image_copy( sensor_msgs::msg::Image & sensor_msgs_image) const { + // TODO(YV): call convert_to_ros_message() instead? sensor_msgs_image.height = frame_.rows; sensor_msgs_image.width = frame_.cols; - switch (frame_.type()) { - case CV_8UC1: - sensor_msgs_image.encoding = "mono8"; - break; - case CV_8UC3: - sensor_msgs_image.encoding = "bgr8"; - break; - case CV_16SC1: - sensor_msgs_image.encoding = "mono16"; - break; - case CV_8UC4: - sensor_msgs_image.encoding = "rgba8"; - break; - default: - throw std::runtime_error("unsupported encoding type"); + if (encoding_override_.has_value() && !encoding_override_.value().empty()) + { + sensor_msgs_image.encoding = encoding_override_.value(); + } + else + { + switch (frame_.type()) { + case CV_8UC1: + sensor_msgs_image.encoding = "mono8"; + break; + case CV_8UC3: + sensor_msgs_image.encoding = "bgr8"; + break; + case CV_16SC1: + sensor_msgs_image.encoding = "mono16"; + break; + case CV_8UC4: + sensor_msgs_image.encoding = "rgba8"; + break; + default: + throw std::runtime_error("unsupported encoding type"); + } } sensor_msgs_image.step = static_cast(frame_.step); size_t size = frame_.step * frame_.rows; @@ -204,4 +216,10 @@ ROSCvMatContainer::is_bigendian() const return is_bigendian_; } +std::optional +ROSCvMatContainer::encoding_override() const +{ + return encoding_override_; +} + } // namespace cv_bridge From 4fd66b380b742904c1b182402fd404e59eee4271 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 3 Feb 2023 22:34:17 +0800 Subject: [PATCH 2/2] Remove todo comment Signed-off-by: Yadunund --- cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp b/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp index 507175182..0633e3d2a 100644 --- a/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp +++ b/cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp @@ -177,7 +177,6 @@ void ROSCvMatContainer::get_sensor_msgs_msg_image_copy( sensor_msgs::msg::Image & sensor_msgs_image) const { - // TODO(YV): call convert_to_ros_message() instead? sensor_msgs_image.height = frame_.rows; sensor_msgs_image.width = frame_.cols; if (encoding_override_.has_value() && !encoding_override_.value().empty()) @@ -201,7 +200,7 @@ ROSCvMatContainer::get_sensor_msgs_msg_image_copy( break; default: throw std::runtime_error("unsupported encoding type"); - } + } } sensor_msgs_image.step = static_cast(frame_.step); size_t size = frame_.step * frame_.rows;