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Add support for bgr8 image encoding #95

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merged 1 commit into from
May 15, 2024
Merged

Add support for bgr8 image encoding #95

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20 changes: 16 additions & 4 deletions src/image.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
use crate::config::ImageListenerConfig;
use byteorder::{ByteOrder, LittleEndian};
use image::{imageops, DynamicImage, ImageBuffer, RgbaImage};
use image::{imageops, DynamicImage, ImageBuffer, Rgb, RgbImage, RgbaImage};
use rosrust;
use rosrust_msg;
use std::sync::{Arc, RwLock};
Expand All @@ -10,14 +10,26 @@ fn remap_u8(val: f64, min_val: f64, max_val: f64) -> u8 {
((val - min_val) * (u8::MAX as f64 / (max_val - min_val))) as u8
}

fn bgr2rgb(bgr_img: &RgbImage) -> RgbImage {
ImageBuffer::from_fn(bgr_img.width(), bgr_img.height(), |x, y| {
let bgr = bgr_img.get_pixel(x, y);
Rgb([bgr[2], bgr[1], bgr[0]])
})
}

fn read_img_msg(img_msg: rosrust_msg::sensor_msgs::Image) -> DynamicImage {
match img_msg.encoding.as_ref() {
"8UC1" | "mono8" => DynamicImage::ImageLuma8(
ImageBuffer::from_raw(img_msg.width, img_msg.height, img_msg.data).unwrap(),
),
"8UC3" | "rgb8" => DynamicImage::ImageRgb8(
ImageBuffer::from_raw(img_msg.width, img_msg.height, img_msg.data).unwrap(),
),
"8UC3" | "rgb8" | "bgr8" => {
let mut img: RgbImage =
ImageBuffer::from_raw(img_msg.width, img_msg.height, img_msg.data).unwrap();
if img_msg.encoding == "bgr8" {
img = bgr2rgb(&img)
}
DynamicImage::ImageRgb8(img)
}
"16UC1" | "mono16" => DynamicImage::ImageLuma8(
ImageBuffer::from_raw(img_msg.width, img_msg.height, read_u16(&img_msg.data)).unwrap(),
),
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