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Update test to test all encodings, and not just ones we can handle #516

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Update test to test all encodings, and not just ones we can handle #516

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e454229
update test to test all encodings, and not just ones we can handle
ijnek Oct 4, 2023
53525af
dont convert to bayer
ijnek Oct 4, 2023
2b70b73
have encodingProperties map
ijnek Oct 6, 2023
aaa4ce7
use value-parameterized testing, so each conversion is a separate test
ijnek Oct 11, 2023
2c9aa96
add tip
ijnek Oct 11, 2023
cff3873
remove check for isYUV, sinceimage_encodings:: isColor returns true f…
ijnek Oct 12, 2023
2a2b23a
simplify std::make_pair to use aggregate initialization
ijnek Oct 12, 2023
b2a2431
include user-defined header before pre-defined headers
ijnek Oct 12, 2023
2972ca6
change variable case to snake case
ijnek Oct 12, 2023
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116 changes: 60 additions & 56 deletions cv_bridge/src/cv_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
#include <boost/endian/conversion.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include "sensor_msgs/image_encodings.hpp"
#include "rcpputils/endian.hpp"

#include <map>
Expand Down Expand Up @@ -97,8 +97,12 @@ int getCvType(const std::string & encoding)
if (encoding == enc::BAYER_GRBG16) {return CV_16UC1;}

// Miscellaneous
if (encoding == enc::UYVY) {return CV_8UC2;}
if (encoding == enc::YUV422) {return CV_8UC2;}
if (encoding == enc::YUYV) {return CV_8UC2;}
if (encoding == enc::YUV422_YUY2) {return CV_8UC2;}
if (encoding == enc::NV21) {return CV_8UC2;}
if (encoding == enc::NV24) {return CV_8UC2;}

// Check all the generic content encodings
std::cmatch m;
Expand All @@ -120,7 +124,7 @@ int getCvType(const std::string & encoding)

/// @cond DOXYGEN_IGNORE

enum Encoding { INVALID = -1, GRAY = 0, RGB, BGR, RGBA, BGRA, YUV422, YUV422_YUY2, BAYER_RGGB, BAYER_BGGR,
enum Encoding { INVALID = -1, GRAY = 0, RGB, BGR, RGBA, BGRA, UYVY, YUYV, BAYER_RGGB, BAYER_BGGR,
BAYER_GBRG, BAYER_GRBG};

Encoding getEncoding(const std::string & encoding)
Expand All @@ -130,8 +134,8 @@ Encoding getEncoding(const std::string & encoding)
if ((encoding == enc::RGB8) || (encoding == enc::RGB16)) {return RGB;}
if ((encoding == enc::BGRA8) || (encoding == enc::BGRA16)) {return BGRA;}
if ((encoding == enc::RGBA8) || (encoding == enc::RGBA16)) {return RGBA;}
if (encoding == enc::YUV422) {return YUV422;}
if (encoding == enc::YUV422_YUY2) {return YUV422_YUY2;}
if ((encoding == enc::UYVY) || (encoding == enc::YUV422)){return UYVY;}
if ((encoding == enc::YUYV) || (encoding == enc::YUV422_YUY2)) {return YUYV;}

if ((encoding == enc::BAYER_RGGB8) || (encoding == enc::BAYER_RGGB16)) {return BAYER_RGGB;}
if ((encoding == enc::BAYER_BGGR8) || (encoding == enc::BAYER_BGGR16)) {return BAYER_BGGR;}
Expand All @@ -152,62 +156,62 @@ std::map<std::pair<Encoding, Encoding>, std::vector<int>> getConversionCodes()
{
std::map<std::pair<Encoding, Encoding>, std::vector<int>> res;
for (int i = 0; i <= 5; ++i) {
res[std::pair<Encoding, Encoding>(Encoding(i), Encoding(i))].push_back(SAME_FORMAT);
res[{Encoding(i), Encoding(i)}].push_back(SAME_FORMAT);
}

res[std::make_pair(GRAY, RGB)].push_back(cv::COLOR_GRAY2RGB);
res[std::make_pair(GRAY, BGR)].push_back(cv::COLOR_GRAY2BGR);
res[std::make_pair(GRAY, RGBA)].push_back(cv::COLOR_GRAY2RGBA);
res[std::make_pair(GRAY, BGRA)].push_back(cv::COLOR_GRAY2BGRA);

res[std::make_pair(RGB, GRAY)].push_back(cv::COLOR_RGB2GRAY);
res[std::make_pair(RGB, BGR)].push_back(cv::COLOR_RGB2BGR);
res[std::make_pair(RGB, RGBA)].push_back(cv::COLOR_RGB2RGBA);
res[std::make_pair(RGB, BGRA)].push_back(cv::COLOR_RGB2BGRA);

res[std::make_pair(BGR, GRAY)].push_back(cv::COLOR_BGR2GRAY);
res[std::make_pair(BGR, RGB)].push_back(cv::COLOR_BGR2RGB);
res[std::make_pair(BGR, RGBA)].push_back(cv::COLOR_BGR2RGBA);
res[std::make_pair(BGR, BGRA)].push_back(cv::COLOR_BGR2BGRA);

res[std::make_pair(RGBA, GRAY)].push_back(cv::COLOR_RGBA2GRAY);
res[std::make_pair(RGBA, RGB)].push_back(cv::COLOR_RGBA2RGB);
res[std::make_pair(RGBA, BGR)].push_back(cv::COLOR_RGBA2BGR);
res[std::make_pair(RGBA, BGRA)].push_back(cv::COLOR_RGBA2BGRA);

res[std::make_pair(BGRA, GRAY)].push_back(cv::COLOR_BGRA2GRAY);
res[std::make_pair(BGRA, RGB)].push_back(cv::COLOR_BGRA2RGB);
res[std::make_pair(BGRA, BGR)].push_back(cv::COLOR_BGRA2BGR);
res[std::make_pair(BGRA, RGBA)].push_back(cv::COLOR_BGRA2RGBA);

res[std::make_pair(YUV422, GRAY)].push_back(cv::COLOR_YUV2GRAY_UYVY);
res[std::make_pair(YUV422, RGB)].push_back(cv::COLOR_YUV2RGB_UYVY);
res[std::make_pair(YUV422, BGR)].push_back(cv::COLOR_YUV2BGR_UYVY);
res[std::make_pair(YUV422, RGBA)].push_back(cv::COLOR_YUV2RGBA_UYVY);
res[std::make_pair(YUV422, BGRA)].push_back(cv::COLOR_YUV2BGRA_UYVY);

res[std::make_pair(YUV422_YUY2, GRAY)].push_back(cv::COLOR_YUV2GRAY_YUY2);
res[std::make_pair(YUV422_YUY2, RGB)].push_back(cv::COLOR_YUV2RGB_YUY2);
res[std::make_pair(YUV422_YUY2, BGR)].push_back(cv::COLOR_YUV2BGR_YUY2);
res[std::make_pair(YUV422_YUY2, RGBA)].push_back(cv::COLOR_YUV2RGBA_YUY2);
res[std::make_pair(YUV422_YUY2, BGRA)].push_back(cv::COLOR_YUV2BGRA_YUY2);
res[{GRAY, RGB}].push_back(cv::COLOR_GRAY2RGB);
res[{GRAY, BGR}].push_back(cv::COLOR_GRAY2BGR);
res[{GRAY, RGBA}].push_back(cv::COLOR_GRAY2RGBA);
res[{GRAY, BGRA}].push_back(cv::COLOR_GRAY2BGRA);

res[{RGB, GRAY}].push_back(cv::COLOR_RGB2GRAY);
res[{RGB, BGR}].push_back(cv::COLOR_RGB2BGR);
res[{RGB, RGBA}].push_back(cv::COLOR_RGB2RGBA);
res[{RGB, BGRA}].push_back(cv::COLOR_RGB2BGRA);

res[{BGR, GRAY}].push_back(cv::COLOR_BGR2GRAY);
res[{BGR, RGB}].push_back(cv::COLOR_BGR2RGB);
res[{BGR, RGBA}].push_back(cv::COLOR_BGR2RGBA);
res[{BGR, BGRA}].push_back(cv::COLOR_BGR2BGRA);

res[{RGBA, GRAY}].push_back(cv::COLOR_RGBA2GRAY);
res[{RGBA, RGB}].push_back(cv::COLOR_RGBA2RGB);
res[{RGBA, BGR}].push_back(cv::COLOR_RGBA2BGR);
res[{RGBA, BGRA}].push_back(cv::COLOR_RGBA2BGRA);

res[{BGRA, GRAY}].push_back(cv::COLOR_BGRA2GRAY);
res[{BGRA, RGB}].push_back(cv::COLOR_BGRA2RGB);
res[{BGRA, BGR}].push_back(cv::COLOR_BGRA2BGR);
res[{BGRA, RGBA}].push_back(cv::COLOR_BGRA2RGBA);

res[{UYVY, GRAY}].push_back(cv::COLOR_YUV2GRAY_UYVY);
res[{UYVY, RGB}].push_back(cv::COLOR_YUV2RGB_UYVY);
res[{UYVY, BGR}].push_back(cv::COLOR_YUV2BGR_UYVY);
res[{UYVY, RGBA}].push_back(cv::COLOR_YUV2RGBA_UYVY);
res[{UYVY, BGRA}].push_back(cv::COLOR_YUV2BGRA_UYVY);

res[{YUYV, GRAY}].push_back(cv::COLOR_YUV2GRAY_YUY2);
res[{YUYV, RGB}].push_back(cv::COLOR_YUV2RGB_YUY2);
res[{YUYV, BGR}].push_back(cv::COLOR_YUV2BGR_YUY2);
res[{YUYV, RGBA}].push_back(cv::COLOR_YUV2RGBA_YUY2);
res[{YUYV, BGRA}].push_back(cv::COLOR_YUV2BGRA_YUY2);

// Deal with Bayer
res[std::make_pair(BAYER_RGGB, GRAY)].push_back(cv::COLOR_BayerBG2GRAY);
res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::COLOR_BayerBG2RGB);
res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::COLOR_BayerBG2BGR);
res[{BAYER_RGGB, GRAY}].push_back(cv::COLOR_BayerBG2GRAY);
res[{BAYER_RGGB, RGB}].push_back(cv::COLOR_BayerBG2RGB);
res[{BAYER_RGGB, BGR}].push_back(cv::COLOR_BayerBG2BGR);

res[std::make_pair(BAYER_BGGR, GRAY)].push_back(cv::COLOR_BayerRG2GRAY);
res[std::make_pair(BAYER_BGGR, RGB)].push_back(cv::COLOR_BayerRG2RGB);
res[std::make_pair(BAYER_BGGR, BGR)].push_back(cv::COLOR_BayerRG2BGR);
res[{BAYER_BGGR, GRAY}].push_back(cv::COLOR_BayerRG2GRAY);
res[{BAYER_BGGR, RGB}].push_back(cv::COLOR_BayerRG2RGB);
res[{BAYER_BGGR, BGR}].push_back(cv::COLOR_BayerRG2BGR);

res[std::make_pair(BAYER_GBRG, GRAY)].push_back(cv::COLOR_BayerGR2GRAY);
res[std::make_pair(BAYER_GBRG, RGB)].push_back(cv::COLOR_BayerGR2RGB);
res[std::make_pair(BAYER_GBRG, BGR)].push_back(cv::COLOR_BayerGR2BGR);
res[{BAYER_GBRG, GRAY}].push_back(cv::COLOR_BayerGR2GRAY);
res[{BAYER_GBRG, RGB}].push_back(cv::COLOR_BayerGR2RGB);
res[{BAYER_GBRG, BGR}].push_back(cv::COLOR_BayerGR2BGR);

res[std::make_pair(BAYER_GRBG, GRAY)].push_back(cv::COLOR_BayerGB2GRAY);
res[std::make_pair(BAYER_GRBG, RGB)].push_back(cv::COLOR_BayerGB2RGB);
res[std::make_pair(BAYER_GRBG, BGR)].push_back(cv::COLOR_BayerGB2BGR);
res[{BAYER_GRBG, GRAY}].push_back(cv::COLOR_BayerGB2GRAY);
res[{BAYER_GRBG, RGB}].push_back(cv::COLOR_BayerGB2RGB);
res[{BAYER_GRBG, BGR}].push_back(cv::COLOR_BayerGB2BGR);

return res;
}
Expand All @@ -217,9 +221,9 @@ const std::vector<int> getConversionCode(std::string src_encoding, std::string d
Encoding src_encod = getEncoding(src_encoding);
Encoding dst_encod = getEncoding(dst_encoding);
bool is_src_color_format = enc::isColor(src_encoding) || enc::isMono(src_encoding) ||
enc::isBayer(src_encoding) || (src_encoding == enc::YUV422) || (src_encoding == enc::YUV422_YUY2);
enc::isBayer(src_encoding);
bool is_dst_color_format = enc::isColor(dst_encoding) || enc::isMono(dst_encoding) ||
enc::isBayer(dst_encoding) || (dst_encoding == enc::YUV422) || (dst_encoding == enc::YUV422_YUY2);
enc::isBayer(dst_encoding);
bool is_num_channels_the_same =
(enc::numChannels(src_encoding) == enc::numChannels(dst_encoding));

Expand Down Expand Up @@ -599,7 +603,7 @@ CvImageConstPtr cvtColorForDisplay(
} else {
// We choose BGR by default here as we assume people will use OpenCV
if ((enc::bitDepth(source->encoding) == 8) ||
(enc::bitDepth(source->encoding) == 16) ||
(enc::bitDepth(source->encoding) == 16) ||
(enc::bitDepth(source->encoding) == 32))
{
encoding = enc::BGR8;
Expand Down
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