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update YUV format codes and documentation #214

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Apr 3, 2023
Merged

update YUV format codes and documentation #214

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23 changes: 16 additions & 7 deletions sensor_msgs/include/sensor_msgs/image_encodings.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,17 +92,22 @@ const char BAYER_BGGR16[] = "bayer_bggr16";
const char BAYER_GBRG16[] = "bayer_gbrg16";
const char BAYER_GRBG16[] = "bayer_grbg16";

// Miscellaneous
// YUV formats
// YUV 4:2:2 encodings with an 8-bit depth
// UYUV version: http://www.fourcc.org/pixel-format/yuv-uyvy
const char YUV422[] = "yuv422";
// YUYV version: http://www.fourcc.org/pixel-format/yuv-yuy2/
const char YUV422_YUY2[] = "yuv422_yuy2";
// https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-packed-yuv.html#id1
// fourcc: UYVY
const char UYVY[] = "uyvy";
const char YUV422[] = "yuv422"; // deprecated
// fourcc: YUYV
const char YUYV[] = "yuyv";
const char YUV422_YUY2[] = "yuv422_yuy2"; // deprecated

// YUV 4:2:0 encodings with an 8-bit depth
// NV21: https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-yuv-planar.html
// NV21: https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-yuv-planar.html#nv12-nv21-nv12m-and-nv21m
const char NV21[] = "nv21";

// YUV 4:4:4 encodings with 8-bit depth
// NV24: https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-yuv-planar.html
// NV24: https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-yuv-planar.html#nv24-and-nv42
const char NV24[] = "nv24";

// Prefixes for abstract image encodings
Expand Down Expand Up @@ -184,6 +189,8 @@ static inline int numChannels(const std::string & encoding)

if (encoding == YUV422 ||
encoding == YUV422_YUY2 ||
encoding == UYVY ||
encoding == YUYV ||
encoding == NV21 ||
encoding == NV24)
{
Expand Down Expand Up @@ -234,6 +241,8 @@ static inline int bitDepth(const std::string & encoding)

if (encoding == YUV422 ||
encoding == YUV422_YUY2 ||
encoding == UYVY ||
encoding == YUYV ||
encoding == NV21 ||
encoding == NV24)
{
Expand Down