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Nv12 color format #1318

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Nv12 color format #1318

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3349cdb
rviz: display: image: Add NV12 to RGB conversion support in rviz2
zycczy Dec 26, 2024
6022628
Merge pull request #1 from zycczy/nv12_color_format_support
quic-zhaoyuan Dec 26, 2024
b406b3f
Update ros_image_texture.cpp
quic-zhaoyuan Jan 10, 2025
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1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/displays/image/ros_image_texture.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,7 @@ class ROSImageTexture : public ROSImageTextureIface
ImageData convertTo8bit(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertUYVYToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertYUYVToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
ImageData convertNV12ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);

ImageData setFormatAndNormalizeDataIfNecessary(
const std::string & encoding, const uint8_t * data_ptr, size_t data_size_in_bytes);
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44 changes: 44 additions & 0 deletions rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,34 @@ struct uyvy
uint8_t y1;
};

// Function converts src_img from NV12 format to rgb
static void imageConvertNV12ToRGB(
uint8_t * dst_img,
const uint8_t * src_img,
int dst_start_row,
int dst_end_row,
int dst_num_cols,
uint32_t stride_in_bytes)
{
const uint8_t * y_ptr = src_img;
const uint8_t * uv_ptr = src_img + (dst_end_row * stride_in_bytes);

for (int row = dst_start_row; row < dst_end_row; row++) {
for (int col = 0; col < dst_num_cols; col++) {
int y_index = row * stride_in_bytes + col;
int uv_index = (row / 2) * stride_in_bytes + (col / 2) * 2;

int final_y = y_ptr[y_index];
int final_u = uv_ptr[uv_index + 0];
int final_v = uv_ptr[uv_index + 1];

std::tie(dst_img[0], dst_img[1], dst_img[2]) = pixelYUVToRGB(final_y, final_u, final_v);

dst_img += 3;
}
}
}

// Function converts src_img from UYVY format to rgb
static void imageConvertUYVYToRGB(
uint8_t * dst_img, uint8_t * src_img,
Expand Down Expand Up @@ -409,6 +437,20 @@ ROSImageTexture::convertYUYVToRGBData(const uint8_t * data_ptr, size_t data_size
return ImageData(Ogre::PF_BYTE_RGB, new_data, new_size_in_bytes, true);
}

ImageData
ROSImageTexture::convertNV12ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes)
{
size_t new_size_in_bytes = data_size_in_bytes * 2;

uint8_t * new_data = new uint8_t[new_size_in_bytes];

imageConvertNV12ToRGB(
new_data, const_cast<uint8_t *>(data_ptr),
0, height_, width_, stride_);

return ImageData(Ogre::PF_BYTE_RGB, new_data, new_size_in_bytes, true);
}

ImageData
ROSImageTexture::setFormatAndNormalizeDataIfNecessary(
const std::string & encoding, const uint8_t * data_ptr, size_t data_size_in_bytes)
Expand Down Expand Up @@ -449,6 +491,8 @@ ROSImageTexture::setFormatAndNormalizeDataIfNecessary(
return convertUYVYToRGBData(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::YUYV) {
return convertYUYVToRGBData(data_ptr, data_size_in_bytes);
} else if (encoding == sensor_msgs::image_encodings::NV12) {
return convertNV12ToRGBData(data_ptr, data_size_in_bytes);
} else {
throw UnsupportedImageEncoding(encoding);
}
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