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Add support for NV12 encoding in cv_bridge #544

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cddba15
Add NV12 Support to cv_bridge
zycczy Jan 14, 2025
5f1746a
Fix height scaling calculation in matFromImage function
zycczy Feb 10, 2025
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22 changes: 15 additions & 7 deletions cv_bridge/src/cv_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ int getCvType(const std::string & encoding)
// Miscellaneous
if (encoding == enc::YUV422) {return CV_8UC2;}
if (encoding == enc::YUV422_YUY2) {return CV_8UC2;}
if (encoding == enc::NV12) {return CV_8UC1;}

// Check all the generic content encodings
std::cmatch m;
Expand All @@ -120,7 +121,7 @@ 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, YUV422, YUV422_YUY2, NV12, BAYER_RGGB, BAYER_BGGR,
BAYER_GBRG, BAYER_GRBG, MAX_ENCODING};

Encoding getEncoding(const std::string & encoding)
Expand All @@ -132,6 +133,7 @@ Encoding getEncoding(const std::string & encoding)
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::NV12) {return NV12;}

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 Down Expand Up @@ -192,6 +194,12 @@ std::map<std::pair<Encoding, Encoding>, std::vector<int>> getConversionCodes()
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[std::make_pair(NV12, GRAY)].push_back(cv::COLOR_YUV2GRAY_NV12);
res[std::make_pair(NV12, RGB)].push_back(cv::COLOR_YUV2RGB_NV12);
res[std::make_pair(NV12, BGR)].push_back(cv::COLOR_YUV2BGR_NV12);
res[std::make_pair(NV12, RGBA)].push_back(cv::COLOR_YUV2RGBA_NV12);
res[std::make_pair(NV12, BGRA)].push_back(cv::COLOR_YUV2BGRA_NV12);

// 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);
Expand All @@ -217,9 +225,9 @@ 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) || (src_encoding == enc::YUV422) || (src_encoding == enc::YUV422_YUY2) || (src_encoding == enc::NV12);
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) || (dst_encoding == enc::YUV422) || (dst_encoding == enc::YUV422_YUY2) || (dst_encoding == enc::NV12);
bool is_num_channels_the_same =
(enc::numChannels(src_encoding) == enc::numChannels(dst_encoding));

Expand Down Expand Up @@ -288,15 +296,15 @@ cv::Mat matFromImage(const sensor_msgs::msg::Image & source)
throw Exception(ss.str());
}

if (source.height * source.step != source.data.size()) {
if (source.height * source.step * enc::getHeightScaling(source.encoding) != source.data.size()) {
std::stringstream ss;
ss << "Image is wrongly formed: height * step != size or " << source.height << " * " <<
source.step << " != " << source.data.size();
ss << "Image is wrongly formed: height * step * HeightScaling != size or " << source.height << " * " <<
source.step << "*" << enc::getHeightScaling(source.encoding) << " != " << source.data.size();
Comment on lines +301 to +302
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Copilot AI Jun 14, 2025

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In the error message, HeightScaling is capitalized and concatenated; consider using a user-friendly phrase like "height scaling" (lowercase, with space) for clarity and consistency.

Suggested change
ss << "Image is wrongly formed: height * step * HeightScaling != size or " << source.height << " * " <<
source.step << "*" << enc::getHeightScaling(source.encoding) << " != " << source.data.size();
ss << "Image is wrongly formed: height * step * height scaling != size or " << source.height << " * " <<
source.step << " * " << enc::getHeightScaling(source.encoding) << " != " << source.data.size();

Copilot uses AI. Check for mistakes.
throw Exception(ss.str());
}

// If the endianness is the same as locally, share the data
cv::Mat mat(source.height, source.width, source_type, const_cast<uchar *>(&source.data[0]),
cv::Mat mat(source.height * enc::getHeightScaling(source.encoding), source.width, source_type, const_cast<uchar *>(&source.data[0]),
source.step);

if ((rcpputils::endian::native == rcpputils::endian::big && source.is_bigendian) ||
Expand Down