Bug fix in FPS enumeration and ReadMe Update

econsystems · Jan 24, 2020 · d800cb4 · d800cb4
1 parent 14ca090
commit d800cb4
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Showing 4 changed files with 56 additions and 27 deletions.
diff --git a/README.md b/README.md
@@ -48,6 +48,7 @@ It also provides UI for changing V4l2 controls and to switch Color space/Compres
 ### Supported Color space/Compression:
 
 * UYVY
+* YUYV
 * MJPG
 * Y8
 * Y12

diff --git a/source/ecam_v4l2/src/camera.cpp b/source/ecam_v4l2/src/camera.cpp
@@ -320,7 +320,7 @@ namespace ecam_v4l2
         image->data.resize(2 * frmt.stream_fmt.fmt.pix.width * frmt.stream_fmt.fmt.pix.height);
         memcpy(&image->data[0],buffers[buffer.index].start,2*frmt.stream_fmt.fmt.pix.width*frmt.stream_fmt.fmt.pix.height);
 
-      }else if(frmt.stream_fmt.fmt.pix.pixelformat==V4L2_PIX_FMT_UYVY){
+      }else if(frmt.stream_fmt.fmt.pix.pixelformat==V4L2_PIX_FMT_UYVY ||frmt.stream_fmt.fmt.pix.pixelformat==V4L2_PIX_FMT_YUYV){
 
         image->data.resize(2 * frmt.stream_fmt.fmt.pix.width * frmt.stream_fmt.fmt.pix.height);
         memcpy(&image->data[0],buffers[buffer.index].start,2*frmt.stream_fmt.fmt.pix.width*frmt.stream_fmt.fmt.pix.height);
@@ -371,6 +371,11 @@ namespace ecam_v4l2
       image->format = "uyvy";
       image->data.reserve(2 * frmt.stream_fmt.fmt.pix.height * frmt.stream_fmt.fmt.pix.width);
 
+    }else if(frmt.stream_fmt.fmt.pix.pixelformat==V4L2_PIX_FMT_YUYV){
+
+      image->format = "yuyv";
+      image->data.reserve(2 * frmt.stream_fmt.fmt.pix.height * frmt.stream_fmt.fmt.pix.width);
+
     }else if(frmt.stream_fmt.fmt.pix.pixelformat==V4L2_PIX_FMT_Y12){
 
       image->format = "mono12";
@@ -524,6 +529,9 @@ namespace ecam_v4l2
       case V4L2_PIX_FMT_UYVY:
         *pixelformat = "UYVY";
         break;
+      case V4L2_PIX_FMT_YUYV:
+        *pixelformat = "YUYV";
+        break;
       case V4L2_PIX_FMT_GREY:
         *pixelformat = "GREY";
         break;

diff --git a/source/rqt_cam/src/rqt_cam/controls.cpp b/source/rqt_cam/src/rqt_cam/controls.cpp
@@ -140,6 +140,7 @@ namespace rqt_cam{
   int Controls::enum_format(int type,std::string pix_fmt,int width,int height)
   {
     int index;
+    char dummy_char;
     ros::NodeHandle node_handle;
     ros::ServiceClient enum_format_client = node_handle.serviceClient<rqt_cam::enum_format>("EnumerateFormat");
     rqt_cam::enum_format fmt_msg;
@@ -166,6 +167,8 @@ namespace rqt_cam{
           for (index=0 ;index< fmt_msg.response.str.size(); index++){
             resolutions.push_back(fmt_msg.response.str[index]);
           }
+          std::istringstream temp1_stream(resolutions[0]);
+          temp1_stream >>width >> dummy_char >> height; // Getting currently enumerated height and width.
         }else {
           ROS_ERROR("Failed to call service Format_setting");
           break;

diff --git a/source/rqt_cam/src/rqt_cam/image_view.cpp b/source/rqt_cam/src/rqt_cam/image_view.cpp
@@ -647,33 +647,50 @@ namespace rqt_cam {
   ************************************************************************************************************/
   void ImageView::callbackImage(const rqt_cam::image::ConstPtr& msg)
   {
-    if(msg->format=="uyvy"){
-      cv::Mat mat_src = cv::Mat(msg->height, msg->width, CV_8UC2,(void*)&msg->data[0]);
-      cv::cvtColor(mat_src, conversion_mat_, cv::COLOR_YUV2RGB_UYVY);
-    }else if(msg->format=="mjpg"){
-      cv::Mat Bgr_data;
-      imdecode(cv::Mat(1, msg->length, CV_8U, (void*)&msg->data[0]),cv::IMREAD_COLOR, &Bgr_data);
-      cv::cvtColor(Bgr_data,conversion_mat_, cv::COLOR_BGR2RGB);
-    }else if(msg->format=="mono8"){
-      cv::Mat gray8;
-      cv::Mat(msg->height, msg->width, CV_8UC1, (void*)&msg->data[0]).convertTo(gray8, CV_8U);
-      cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
-
-    }else if(msg->format=="mono16"){
-      cv::Mat gray8;
-      ConvertY16toY8((uint16_t*)&msg->data[0],msg->height,msg->width, gray8);
-      cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
-    }else if(msg->format=="mono12"){
-      cv::Mat gray8;
-      ConvertY12toY8((uint8_t*)&msg->data[0],msg->height,msg->width, gray8);
-      cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
+    try{
+
+      if(msg->format=="uyvy"){
+        cv::Mat mat_src = cv::Mat(msg->height, msg->width, CV_8UC2,(void*)&msg->data[0]);
+        cv::cvtColor(mat_src, conversion_mat_, cv::COLOR_YUV2RGB_UYVY);
+      }else if (msg->format=="yuyv") {
+        cv::Mat mat_src = cv::Mat(msg->height, msg->width, CV_8UC2,(void*)&msg->data[0]);
+        cv::cvtColor(mat_src, conversion_mat_, cv::COLOR_YUV2RGB_YUYV);
+      }else if(msg->format=="mjpg"){
+        cv::Mat Bgr_data;
+        // Checking whether mjpeg header is valid.
+        if( ((uint8_t*)&msg->data[0])[0] == 0xFF && ((uint8_t*)&msg->data[0])[1] == 0xD8){
+          imdecode(cv::Mat(1, msg->length, CV_8U, (void*)&msg->data[0]),cv::IMREAD_COLOR, &Bgr_data);
+          cv::cvtColor(Bgr_data,conversion_mat_, cv::COLOR_BGR2RGB);
+        }else{
+          return;
+        }
+      }else if(msg->format=="mono8"){
+        cv::Mat gray8;
+        cv::Mat(msg->height, msg->width, CV_8UC1, (void*)&msg->data[0]).convertTo(gray8, CV_8U);
+        cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
+
+      }else if(msg->format=="mono16"){
+        cv::Mat gray8;
+        ConvertY16toY8((uint16_t*)&msg->data[0],msg->height,msg->width, gray8);
+        cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
+      }else if(msg->format=="mono12"){
+        cv::Mat gray8;
+        ConvertY12toY8((uint8_t*)&msg->data[0],msg->height,msg->width, gray8);
+        cv::cvtColor(gray8,conversion_mat_, cv::COLOR_GRAY2BGR);
+      }
+      // image must be copied since it uses the conversion_mat_ for storage which is asynchronously overwritten in the next callback invocation
+      QImage image(conversion_mat_.data,msg->width,msg->height, 3*msg->width, QImage::Format_RGB888);
+      ui_.image_frame->setImage(image);
+      if(save_img){
+        save_img=false;
+        save_image(&msg->data[0],msg->format,msg->length,msg->width,msg->height);
+      }
     }
-    // image must be copied since it uses the conversion_mat_ for storage which is asynchronously overwritten in the next callback invocation
-    QImage image(conversion_mat_.data,msg->width,msg->height, 3*msg->width, QImage::Format_RGB888);
-    ui_.image_frame->setImage(image);
-    if(save_img){
-      save_img=false;
-      save_image(&msg->data[0],msg->format,msg->length,msg->width,msg->height);
+    catch(cv::Exception& e)
+    {
+      qWarning("ImageView.callback_image() while trying to convert image to 'rgb8' an exception was thrown (%s)", e.what());
+      ui_.image_frame->setImage(QImage());
+      return;
     }
   }
-Original file line number
+Diff line change
@@ Expand Up @@
     ### Supported Color space/Compression:
     * UYVY
+    * YUYV
     * MJPG
     * Y8
     * Y12
@@ Expand Down @@