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add rbgFormatConvertRGB888

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This commit is contained in:
Joe Dong
2022-06-09 16:40:35 +08:00
parent c3452520ce
commit 208cc84503
2 changed files with 34 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+31 -4
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@@ -488,11 +488,38 @@ void OBCameraNode::publishDynamicTransforms() {
}
}
bool OBCameraNode::rbgFormatConvertRGB888(std::shared_ptr<ob::ColorFrame> frame) {
switch (frame->format()) {
case OB_FORMAT_I420:
format_convert_filter_.setFormatConvertType(FORMAT_I420_TO_RGB888);
break;
case OB_FORMAT_MJPG:
format_convert_filter_.setFormatConvertType(FORMAT_MJPEG_TO_RGB888);
break;
case OB_FORMAT_YUYV:
format_convert_filter_.setFormatConvertType(FORMAT_YUYV_TO_RGB888);
break;
case OB_FORMAT_NV21:
format_convert_filter_.setFormatConvertType(FORMAT_NV21_TO_RGB888);
break;
case OB_FORMAT_NV12:
format_convert_filter_.setFormatConvertType(FORMAT_NV12_TO_RGB888);
break;
default:
return false;
}
return true;
}
void OBCameraNode::publishColorFrame(std::shared_ptr<ob::ColorFrame> frame) {
format_convert_filter.setFormatConvertType(FORMAT_I420_TO_RGB888);
frame = format_convert_filter.process(frame)->as<ob::ColorFrame>();
format_convert_filter.setFormatConvertType(FORMAT_RGB888_TO_BGR);
frame = format_convert_filter.process(frame)->as<ob::ColorFrame>();
if (!rbgFormatConvertRGB888(frame)) {
RCLCPP_ERROR_STREAM(
logger_, "can not convert " << magic_enum::enum_name(frame->format()) << " to RGB888");
return;
}
frame = format_convert_filter_.process(frame)->as<ob::ColorFrame>();
format_convert_filter_.setFormatConvertType(FORMAT_RGB888_TO_BGR);
frame = format_convert_filter_.process(frame)->as<ob::ColorFrame>();
auto width = frame->width();
auto height = frame->height();
auto stream = COLOR;