Esempio n. 1
0
  static bool frameToImage (FlyCapture2::Image * frame, sensor_msgs::Image & image)
  {
    // Get the raw image dimensions
    FlyCapture2::PixelFormat pixFormat;
    uint32_t rows, cols, stride;

    FlyCapture2::Image convertedImage;
    FlyCapture2::Error error;

    error = frame->Convert(FlyCapture2::PIXEL_FORMAT_RGB, &convertedImage );

    if (error != FlyCapture2::PGRERROR_OK)
    {
        error.PrintErrorTrace();
        return false;
    }

    // Get the raw image dimensions
    convertedImage.GetDimensions( &rows, &cols, &stride, &pixFormat );

    return sensor_msgs::fillImage (image, sensor_msgs::image_encodings::RGB8,
                                   rows, cols, stride,
                                   convertedImage.GetData ());

  }
void CCaptureGUIView::setFlyImage(const FlyCapture2::Image& image) {
	unsigned int rows, cols, stride;
	FlyCapture2::PixelFormat format;
	image.GetDimensions(&rows, &cols, &stride, &format);
	m_bmpmutex.lock();
	auto error = image.Convert(FlyCapture2::PIXEL_FORMAT_BGR, &fly_image);
	m_bmpmutex.unlock();
	assert(error != FlyCapture2::PGRERROR_OK); // error check
}
  static bool frameToImage (FlyCapture2::Image * frame, sensor_msgs::Image & image)
  {

    std::string encoding;

    // Get the raw image dimensions
    FlyCapture2::PixelFormat pixFormat;
    uint32_t rows, cols, stride;


    // NOTE: 16-bit and Yuv formats not supported
    static const char *BAYER_ENCODINGS[] = { "none", "bayer_rggb8",
      "bayer_grbg8", "bayer_gbrg8", "bayer_bggr8", "unknown"
    };
    //unsigned int bpp = frame->GetBitsPerPixel();
    FlyCapture2::BayerTileFormat bayerFmt;
    bayerFmt = frame->GetBayerTileFormat ();
    //ROS_INFO("bayer is %u", bayerFmt);
    frame->GetDimensions( &rows, &cols, &stride, &pixFormat );
    //ROS_INFO("Frame WxH = %d x %d", cols, rows); // FIXME: Dynamic resizing of camera is now working
    //ROS_INFO("Pixel Format (from Raw Image): 0x%08x", pixFormat);
    //ROS_INFO("Stride of Raw Image (The number of bytes between rows of the image): %d", stride);

    if (bayerFmt == FlyCapture2::NONE)
    {
      //ROS_INFO("Pixel Format (from Raw Image): 0x%08x", pixFormat);
      encoding = sensor_msgs::image_encodings::MONO8;
      return sensor_msgs::fillImage (image, encoding, rows,
                                     cols,
                                     stride,
                                     frame->GetData ());
    }
    else
    {
      // Create a converted image
      FlyCapture2::Image convertedImage;
      FlyCapture2::Error error;

      //encoding = BAYER_ENCODINGS[bayerFmt];
      switch ((FlyCapture2::PixelFormat) pixFormat) {
        case FlyCapture2::PIXEL_FORMAT_RAW8:
          // Convert the raw image
          error = frame->Convert(FlyCapture2::PIXEL_FORMAT_RGB, &convertedImage );
          encoding = sensor_msgs::image_encodings::RGB8; // Arbitrary encoding based on pixel format

          if (error != FlyCapture2::PGRERROR_OK)
          {
            error.PrintErrorTrace();
            return false;
          }
          // Get the raw image dimensions
          convertedImage.GetDimensions( &rows, &cols, &stride, &pixFormat );
          break;
        default:
          return false; // FIXME: Now, it's arbitrarily converting Raw images to RGB8 encoding
          // TODO: Handle encoding directly from Bayer
          break;
      } // switch
      //ROS_INFO("Stride of Converted Image (The number of bytes between rows of the image): %d", stride);

      return sensor_msgs::fillImage (image, encoding, rows,
                                     cols,
                                     stride,
                                     convertedImage.GetData ());
    } //else

  }