288 fix uyvy2rgb size

[flynneva]

Closes #288

[zymouse]

Thank you very much, problem solved!

[zymouse]

Tested with sensing camera

[zymouse]

Subscribe to Topics： /gmsl/image_raw/compressed
CPU Result：CPU resource usage is relatively high

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Subscribe to Topics： /gmsl/image_raw
CPU Result：～2.0

Cause analysis:

Using rqt_image_view software to subscribe to compressed topics causes cpu to rise

[zymouse]

Unusual frequency of topic releases

• pixel_format: "uyvy2rgb"

• Use rqt_image_view software to subscribe to compression topics
  

• pixel_format: "uyvy"

• Subscribe to Topics： /gmsl/image_raw

• • Use rqt_image_view software to subscribe to compression topics
    

Cause analysis[Decrease in frequency]:

Related to rqt_image_view software subscription

Analyze the causes:

Cause 1

Subscription to image_raw/compressed Topic frequency is normal ✅
So:
image_raw should not be subscribed to during camera use. Instead, subscribe to image_raw/compressed to process camera data.

My way:

• Currently ros2 subscribes to topics with bandwidths of 100MB/S or more, which can make frequency degradation.
  Frequency reduction is fatal for sensor fusion.
• With compression, there is a problem of reduced resolution, which reduces image quality.
  Image quality degradation - fatal for a long range object recognition [traffic light recognition].

I tested using opencv's resize, which solves the problem of large bandwidth lowering frequency and compression-picture quality degradation.

[flynneva]

@zymouse this MR just fixes the uyvy size issue. The other frequency issue I think can be tackled in another issue / PR. Could you approve this PR to close the sizing issue and open a new issue for the frequency issue?