static bool frameToImage(tPvFrame* frame, sensor_msgs::Image &image)
{
// NOTE: 16-bit and Yuv formats not supported
static const char* BAYER_ENCODINGS[] = { "bayer_rggb8", "bayer_gbrg8", "bayer_grbg8", "bayer_bggr8" };
std::string encoding;
if (frame->Format == ePvFmtMono8) encoding = sensor_msgs::image_encodings::MONO8;
else if (frame->Format == ePvFmtBayer8)
{
#if 1
encoding = BAYER_ENCODINGS[frame->BayerPattern];
#else
image.encoding = sensor_msgs::image_encodings::BGR8;
image.height = frame->Height;
image.width = frame->Width;
image.step = frame->Width * 3;
image.data.resize(frame->Height * (frame->Width * 3));
PvUtilityColorInterpolate(frame, &image.data[2], &image.data[1], &image.data[0], 2, 0);
return true;
#endif
}
else if (frame->Format == ePvFmtRgb24) encoding = sensor_msgs::image_encodings::RGB8;
else if (frame->Format == ePvFmtBgr24) encoding = sensor_msgs::image_encodings::BGR8;
else if (frame->Format == ePvFmtRgba32) encoding = sensor_msgs::image_encodings::RGBA8;
else if (frame->Format == ePvFmtBgra32) encoding = sensor_msgs::image_encodings::BGRA8;
else {
ROS_WARN("Received frame with unsupported pixel format %d", frame->Format);
return false;
}
uint32_t step = frame->ImageSize / frame->Height;
return sensor_msgs::fillImage(image, encoding, frame->Height, frame->Width, step, frame->ImageBuffer);
}
void OmniCamera::grab(IplImage *img) {
//Sleep(400);
PvCaptureQueueFrame(_camera.handle,&(_camera.frame),0);
//printf("waiting for the frame ...\n");
PvCaptureWaitForFrameDone(_camera.handle,&(_camera.frame),PVINFINITE);
//printf("frame's done ...\n, width %d height %d depth %d size %d\n",_camera.frame.Width,_camera.frame.Height,_camera.frame.BitDepth, _camera.frame.ImageBufferSize);
PvUtilityColorInterpolate(&_camera.frame,&img->imageData[2],&img->imageData[1],&img->imageData[0],2,0);
}