Migrate previous pixel formats to new approach

README.md

@@ -67,6 +67,7 @@ Also provided is a launch file that should launch the `usb_cam_node_exe` executa
 The commands to run each of these different ways of starting the node are shown below:
 
 **NOTE: you only need to run ONE of the commands below to run the node**
+
 ```
 # run the executable with default settings (without params file)
 ros2 run usb_cam usb_cam_node_exe
@@ -127,8 +128,10 @@ Possible options for this driver today are:
 - `rgb8`: V4L2 capture format and ROS image encoding format of RGB8
 - `yuyv`: V4L2 capture format and ROS image encoding format of YUYV
 - `uyvy`: V4L2 capture format and ROS image encoding format of UYVY
+- `m4202rgb8`: V4L2 capture format of M420 (aka YUV420), ROS image encoding of RGB8
 - `mono8`: V4L2 capture format and ROS image encoding format of MONO8
 - `mono16`: V4L2 capture format and ROS image encoding format of MONO16
+- `y102mono8`: V4L2 capture format of Y10 (aka MONO10), ROS image encoding of MONO8
 
 More formats and conversions can be added, contributions welcome!
 

include/usb_cam/conversions.hpp

@@ -45,23 +45,6 @@ namespace conversions
 {
 
 
-inline void MONO102MONO8(const char * RAW, char * MONO, const int & NumPixels)
-{
-  int i, j;
-  for (i = 0, j = 0; i < (NumPixels << 1); i += 2, j += 1) {
-    // first byte is low byte, second byte is high byte; smash together and convert to 8-bit
-    MONO[j] = (unsigned char)(((RAW[i + 0] >> 2) & 0x3F) | ((RAW[i + 1] << 6) & 0xC0));
-  }
-}
-
-inline void YUV4202RGB(char * YUV, char * RGB, const int & width, const int & height)
-{
-  cv::Size size(height, width);
-  cv::Mat cv_img(height, width, CV_8UC1, YUV);
-  cv::Mat cv_out(height, width, CV_8UC3, RGB);
-  cv::cvtColor(cv_img, cv_out, cv::COLOR_YUV420p2RGB);
-}
-
 std::string FCC2S(const unsigned int & val)
 {
   std::string s;

include/usb_cam/formats/m420.hpp

@@ -0,0 +1,79 @@
+// Copyright 2023 Evan Flynn
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Evan Flynn nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#ifndef USB_CAM__FORMATS__M420_HPP_
+#define USB_CAM__FORMATS__M420_HPP_
+
+#include "linux/videodev2.h"
+
+#include "opencv2/imgproc.hpp"
+
+#include "usb_cam/formats/pixel_format_base.hpp"
+#include "usb_cam/formats/utils.hpp"
+
+
+namespace usb_cam
+{
+namespace formats
+{
+
+class M4202RGB : public pixel_format_base
+{
+public:
+  M4202RGB(const int & width, const int & height)
+  : pixel_format_base(
+      "m4202rgb",
+      V4L2_PIX_FMT_M420,
+      usb_cam::constants::RGB8,
+      3,
+      8,
+      true),
+    m_width(width),
+    m_height(height)
+  {}
+
+  /// @brief Convert a YUV420 (aka M420) image to RGB8
+  void convert(const char * & src, char * & dest, const int & bytes_used) override
+  {
+    (void)bytes_used;    // not used by this conversion method
+    cv::Size size(m_height, m_width);
+    const cv::Mat cv_img(m_height, m_width, CV_8UC1, const_cast<char *>(src));
+    cv::Mat cv_out(m_height, m_width, CV_8UC3, dest);
+    cv::cvtColor(cv_img, cv_out, cv::COLOR_YUV420p2RGB);
+  }
+
+private:
+  int m_width;
+  int m_height;
+};
+
+}  // namespace formats
+}  // namespace usb_cam
+
+#endif  // USB_CAM__FORMATS__M420_HPP_

include/usb_cam/formats/mjpeg.hpp

@@ -38,6 +38,7 @@
 
 #include <iostream>
 
+
 extern "C" {
 #define __STDC_CONSTANT_MACROS  // Required for libavutil
 #include "libavutil/imgutils.h"

include/usb_cam/formats/mono.hpp

@@ -30,6 +30,8 @@
 #ifndef USB_CAM__FORMATS__MONO_HPP_
 #define USB_CAM__FORMATS__MONO_HPP_
 
+#include "linux/videodev2.h"
+
 #include "usb_cam/formats/pixel_format_base.hpp"
 #include "usb_cam/formats/utils.hpp"
 
@@ -53,6 +55,7 @@ class MONO8 : public pixel_format_base
   {}
 };
 
+
 class MONO16 : public pixel_format_base
 {
 public:
@@ -67,6 +70,40 @@ class MONO16 : public pixel_format_base
   {}
 };
 
+
+/// @brief Also known as MONO10 to MONO8
+class Y102MONO8 : public pixel_format_base
+{
+public:
+  explicit Y102MONO8(const int & number_of_pixels)
+  : pixel_format_base(
+      "y102mono8",
+      V4L2_PIX_FMT_Y10,
+      usb_cam::constants::MONO8,
+      1,
+      8,
+      true),
+    m_number_of_pixels(number_of_pixels)
+  {}
+
+  /// @brief Convert a Y10 (MONO10) image to MONO8
+  /// @param src pointer to source Y10 (MONO10) image
+  /// @param dest pointer to destination MONO8 image
+  /// @param bytes_used number of bytes used by source image
+  void convert(const char * & src, char * & dest, const int & bytes_used) override
+  {
+    (void)bytes_used;  // not used by this conversion method
+    int i, j;
+    for (i = 0, j = 0; i < (m_number_of_pixels << 1); i += 2, j += 1) {
+      // first byte is low byte, second byte is high byte; smash together and convert to 8-bit
+      dest[j] = (unsigned char)(((src[i + 0] >> 2) & 0x3F) | ((src[i + 1] << 6) & 0xC0));
+    }
+  }
+
+private:
+  int m_number_of_pixels;
+};
+
 }  // namespace formats
 }  // namespace usb_cam
 

include/usb_cam/formats/uyvy.hpp

@@ -30,6 +30,8 @@
 #ifndef USB_CAM__FORMATS__UYVY_HPP_
 #define USB_CAM__FORMATS__UYVY_HPP_
 
+#include "linux/videodev2.h"
+
 #include "usb_cam/formats/pixel_format_base.hpp"
 #include "usb_cam/formats/utils.hpp"
 

include/usb_cam/formats/yuyv.hpp

@@ -30,6 +30,8 @@
 #ifndef USB_CAM__FORMATS__YUYV_HPP_
 #define USB_CAM__FORMATS__YUYV_HPP_
 
+#include "linux/videodev2.h"
+
 #include "usb_cam/formats/pixel_format_base.hpp"
 #include "usb_cam/formats/utils.hpp"
 

include/usb_cam/usb_cam.hpp

@@ -50,6 +50,7 @@ extern "C" {
 #include "usb_cam/formats/rgb.hpp"
 #include "usb_cam/formats/uyvy.hpp"
 #include "usb_cam/formats/yuyv.hpp"
+#include "usb_cam/formats/m420.hpp"
 
 
 namespace usb_cam
@@ -252,7 +253,9 @@ class UsbCam
     using usb_cam::formats::UYVY2RGB;
     using usb_cam::formats::MONO8;
     using usb_cam::formats::MONO16;
+    using usb_cam::formats::Y102MONO8;
     using usb_cam::formats::MJPEG2RGB;
+    using usb_cam::formats::M4202RGB;
 
     if (str == "rgb8") {
       m_image.pixel_format = std::make_shared<RGB8>();
@@ -269,10 +272,15 @@ class UsbCam
     } else if (str == "mjpeg2rgb") {
       m_image.pixel_format = std::make_shared<MJPEG2RGB>(
         m_image.width, m_image.height);
+    } else if (str == "m4202rgb") {
+      m_image.pixel_format = std::make_shared<M4202RGB>(
+        m_image.width, m_image.height);
     } else if (str == "mono8") {
       m_image.pixel_format = std::make_shared<MONO8>();
     } else if (str == "mono16") {
       m_image.pixel_format = std::make_shared<MONO16>();
+    } else if (str == "y102mono8") {
+      m_image.pixel_format = std::make_shared<Y102MONO8>(m_image.number_of_pixels);
     } else {
       throw std::invalid_argument("Unsupported pixel format specified: " + str);
     }