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add MONO16 / GRAY16_LE support #70

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add MONO16 / GRAY16_LE support #70

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d2cf23f
added MONO16 support
Dec 23, 2020
9f12898
added image encoding comment to README
Dec 23, 2020
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ This can be run as both a node and a nodelet.
* `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
* `~reopen_on_eof`: Re-open the stream if it ends (EOF).
* `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
* `~image_encoding`: Encoding of the stream. Can be {`rgb8`,`mono8`,`mono16`}. Defaults to `rgb8`.

C++ API (unstable)
------------------
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36 changes: 28 additions & 8 deletions src/gscam.cpp
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Expand Up @@ -84,6 +84,7 @@ namespace gscam {
nh_private_.param("image_encoding", image_encoding_, sensor_msgs::image_encodings::RGB8);
if (image_encoding_ != sensor_msgs::image_encodings::RGB8 &&
image_encoding_ != sensor_msgs::image_encodings::MONO8 &&
image_encoding_ != sensor_msgs::image_encodings::MONO16 &&
image_encoding_ != "jpeg") {
ROS_FATAL_STREAM("Unsupported image encoding: " + image_encoding_);
}
Expand Down Expand Up @@ -139,6 +140,10 @@ namespace gscam {
caps = gst_caps_new_simple( "video/x-raw",
"format", G_TYPE_STRING, "GRAY8",
NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::MONO16) {
caps = gst_caps_new_simple( "video/x-raw",
"format", G_TYPE_STRING, "GRAY16_LE",
NULL);
} else if (image_encoding_ == "jpeg") {
caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
}
Expand All @@ -147,6 +152,11 @@ namespace gscam {
caps = gst_caps_new_simple( "video/x-raw-rgb", NULL,NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) {
caps = gst_caps_new_simple("video/x-raw-gray", NULL, NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::MONO16) {
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@julled julled Dec 23, 2020 •
edited
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this stuff related to gst 0.1 is untested

caps = gst_caps_new_simple("video/x-raw-gray",
"bpp", G_TYPE_INT,16,
"depth", G_TYPE_INT,16,
"endianness", G_TYPE_INT,1234, NULL);
} else if (image_encoding_ == "jpeg") {
caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
}
Expand Down Expand Up @@ -346,10 +356,16 @@ namespace gscam {
cinfo_pub_.publish(cinfo);
} else {
// Complain if the returned buffer is smaller than we expect
const unsigned int expected_frame_size =
image_encoding_ == sensor_msgs::image_encodings::RGB8
? width_ * height_ * 3
: width_ * height_;
unsigned int expected_frame_size;
if(image_encoding_ == sensor_msgs::image_encodings::RGB8){
expected_frame_size = width_ * height_ * 3;
}
else if ( image_encoding_ == sensor_msgs::image_encodings::MONO8) {
expected_frame_size = width_ * height_;
}
else if ( image_encoding_ == sensor_msgs::image_encodings::MONO16) {
expected_frame_size = width_ * height_ * 2;
}

if (buf_size < expected_frame_size) {
ROS_WARN_STREAM( "GStreamer image buffer underflow: Expected frame to be "
Expand All @@ -372,10 +388,14 @@ namespace gscam {
// Copy only the data we received
// Since we're publishing shared pointers, we need to copy the image so
// we can free the buffer allocated by gstreamer
if (image_encoding_ == sensor_msgs::image_encodings::RGB8) {
img->step = width_ * 3;
} else {
img->step = width_;
if(image_encoding_ == sensor_msgs::image_encodings::RGB8){
img->step = width_ * 3;
}
else if ( image_encoding_ == sensor_msgs::image_encodings::MONO8) {
img->step = width_;
}
else if ( image_encoding_ == sensor_msgs::image_encodings::MONO16) {
img->step = width_ * 2;
}
std::copy(
buf_data,
Expand Down