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Add NV12 to pixel formats #253

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Dec 23, 2024
Merged

Add NV12 to pixel formats #253

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8 changes: 6 additions & 2 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 @@ -103,7 +103,8 @@ 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#nv12-nv21-nv12m-and-nv21m
// NV12 & NV21: https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-yuv-planar.html#nv12-nv21-nv12m-and-nv21m
const char NV12[] = "nv12";
const char NV21[] = "nv21";

// YUV 4:4:4 encodings with 8-bit depth
Expand All @@ -126,7 +127,8 @@ static inline bool isColor(const std::string & encoding)
encoding == RGBA16 || encoding == BGRA16 ||
encoding == YUV422 || encoding == YUV422_YUY2 ||
encoding == UYVY || encoding == YUYV ||
encoding == NV21 || encoding == NV24;
encoding == NV12 || encoding == NV21 ||
encoding == NV24;
}

static inline bool isMono(const std::string & encoding)
Expand Down Expand Up @@ -193,6 +195,7 @@ static inline int numChannels(const std::string & encoding)
encoding == YUV422_YUY2 ||
encoding == UYVY ||
encoding == YUYV ||
encoding == NV12 ||
encoding == NV21 ||
encoding == NV24)
{
Expand Down Expand Up @@ -245,6 +248,7 @@ static inline int bitDepth(const std::string & encoding)
encoding == YUV422_YUY2 ||
encoding == UYVY ||
encoding == YUYV ||
encoding == NV12 ||
encoding == NV21 ||
encoding == NV24)
{
Expand Down