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Allow users to override encoding string in ROSCvMatContainer #505

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merged 2 commits into from
Feb 4, 2023
Merged

Allow users to override encoding string in ROSCvMatContainer #505

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7717ffd
Added override for encoding string
Yadunund Feb 1, 2023
4fd66b3
Remove todo comment
Yadunund Feb 3, 2023
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4 changes: 2 additions & 2 deletions cv_bridge/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
Expand Down
24 changes: 21 additions & 3 deletions cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
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Expand Up @@ -26,6 +26,8 @@

#include "cv_bridge/visibility_control.h"

#include <optional>

namespace cv_bridge
{
namespace detail
Expand Down Expand Up @@ -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<std::string> 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<std::string> encoding_override = std::nullopt);

/// Copy the sensor_msgs::msg::Image into this contain and create a cv::Mat that references it.
CV_BRIDGE_PUBLIC
Expand Down Expand Up @@ -209,12 +213,18 @@ class ROSCvMatContainer
CV_BRIDGE_PUBLIC
bool
is_bigendian() const;

/// Return the encoding override if provided.
CV_BRIDGE_PUBLIC
std::optional<std::string>
encoding_override() const;

private:
std_msgs::msg::Header header_;
cv::Mat frame_;
SensorMsgsImageStorageType storage_;
bool is_bigendian_;
std::optional<std::string> encoding_override_;
};

} // namespace cv_bridge
Expand All @@ -234,7 +244,14 @@ struct rclcpp::TypeAdapter<cv_bridge::ROSCvMatContainer, sensor_msgs::msg::Image
{
destination.height = source.cv_mat().rows;
destination.width = source.cv_mat().cols;
switch (source.cv_mat().type()) {
const auto& encoding_override = source.encoding_override();
if (encoding_override.has_value() && !encoding_override.value().empty())
{
destination.encoding = encoding_override.value();
}
else
{
switch (source.cv_mat().type()) {
case CV_8UC1:
destination.encoding = "mono8";
break;
Expand All @@ -249,6 +266,7 @@ struct rclcpp::TypeAdapter<cv_bridge::ROSCvMatContainer, sensor_msgs::msg::Image
break;
default:
throw std::runtime_error("unsupported encoding type");
}
}
destination.step = static_cast<sensor_msgs::msg::Image::_step_type>(source.cv_mat().step);
size_t size = source.cv_mat().step * source.cv_mat().rows;
Expand Down
55 changes: 36 additions & 19 deletions cv_bridge/src/cv_mat_sensor_msgs_image_type_adapter.cpp
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Expand Up @@ -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<std::string> 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<std::string> encoding_override)
: header_(header),
frame_(std::forward<cv::Mat>(mat_frame)),
storage_(nullptr),
is_bigendian_(is_bigendian)
is_bigendian_(is_bigendian),
encoding_override_(encoding_override)
{}

ROSCvMatContainer::ROSCvMatContainer(
Expand Down Expand Up @@ -175,21 +179,28 @@ ROSCvMatContainer::get_sensor_msgs_msg_image_copy(
{
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<sensor_msgs::msg::Image::_step_type>(frame_.step);
size_t size = frame_.step * frame_.rows;
Expand All @@ -204,4 +215,10 @@ ROSCvMatContainer::is_bigendian() const
return is_bigendian_;
}

std::optional<std::string>
ROSCvMatContainer::encoding_override() const
{
return encoding_override_;
}

} // namespace cv_bridge