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Use kYUV422 images to increase the acquisition frequency #84

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Use kYUV422 images to increase the acquisition frequency #84

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18 changes: 10 additions & 8 deletions src/converters/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,11 +28,6 @@
*/
#include <cv_bridge/cv_bridge.h>

/*
* CV includes
*/
#include <opencv2/imgproc/imgproc.hpp>

/*
* BOOST includes
*/
Expand Down Expand Up @@ -126,7 +121,7 @@ CameraConverter::CameraConverter( const std::string& name, const float& frequenc
camera_source_(camera_source),
resolution_(resolution),
// change in case of depth camera
colorspace_( (camera_source_!=AL::kDepthCamera)?AL::kRGBColorSpace:AL::kRawDepthColorSpace ),
colorspace_( (camera_source_!=AL::kDepthCamera)?AL::kYUV422ColorSpace:AL::kRawDepthColorSpace ),
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Can you please keep RGB by default?

msg_colorspace_( (camera_source_!=AL::kDepthCamera)?"rgb8":"16UC1" ),
cv_mat_type_( (camera_source_!=AL::kDepthCamera)?CV_8UC3:CV_16U ),
camera_info_( camera_info_definitions::getCameraInfo(camera_source, resolution) )
Expand Down Expand Up @@ -211,8 +206,15 @@ void CameraConverter::callAll( const std::vector<message_actions::MessageAction>
}

// Create a cv::Mat of the right dimensions
cv::Mat cv_img(image.height, image.width, cv_mat_type_, image.buffer);
msg_ = cv_bridge::CvImage(std_msgs::Header(), msg_colorspace_, cv_img).toImageMsg();
if (colorspace_ == AL::kYUV422ColorSpace)
{
cv::Mat cv_YUV(image.height, image.width, CV_8UC2, image.buffer);
cvtColor(cv_YUV, cv_img_, CV_YUV2RGB_YUYV);
}
else
cv_img_= cv::Mat(image.height, image.width, cv_mat_type_,image.buffer);

msg_ = cv_bridge::CvImage(std_msgs::Header(), msg_colorspace_, cv_img_).toImageMsg();
msg_->header.frame_id = msg_frameid_;

msg_->header.stamp = ros::Time::now();
Expand Down
6 changes: 6 additions & 0 deletions src/converters/camera.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,11 @@
*/
#include <image_transport/image_transport.h>

/*
* CV includes
*/
#include <opencv2/imgproc/imgproc.hpp>

namespace naoqi
{
namespace converter
Expand Down Expand Up @@ -64,6 +69,7 @@ class CameraConverter : public BaseConverter<CameraConverter>
// goes along with colorspace_
std::string msg_colorspace_;
int cv_mat_type_;
cv::Mat cv_img_;
// msg frame id
std::string msg_frameid_;
sensor_msgs::CameraInfo camera_info_;
Expand Down