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
}