added supported for visualizing yuv422

Signed-off-by: Joshua Kurien <jkurien@blackberry.com>
ros2 · Apr 15, 2021 · b264e72 · b264e72
1 parent b0c1389
commit b264e72
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/image_tools/src/showimage.cpp b/image_tools/src/showimage.cpp
@@ -180,6 +180,8 @@ class ShowImage : public rclcpp::Node
       return CV_32FC1;
     } else if (encoding == "rgb8") {
       return CV_8UC3;
+    } else if (encoding == "yuv422") {
+      return CV_8UC2;
     } else {
       throw std::runtime_error("Unsupported encoding type");
     }
@@ -202,7 +204,10 @@ class ShowImage : public rclcpp::Node
 
       if (msg->encoding == "rgb8") {
         cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR);
-      }
+      } else if (msg->encoding == "yuv422") {
+        msg->is_bigendian? cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_UYVY): 
+          cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_YUYV);
+       }
 
       cv::Mat cvframe = frame;