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prevent conversion of single channel 16bit integer images to/from colour #412

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merged 1 commit into from
Nov 23, 2021
Merged

prevent conversion of single channel 16bit integer images to/from colour #412

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33 changes: 19 additions & 14 deletions cv_bridge/src/cv_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -481,7 +481,7 @@ void CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, cons
{
ros_image.header = header;
cv::Mat image;
if (encoding == enc::BGR8 || encoding == enc::BGRA8)
if (encoding == enc::BGR8 || encoding == enc::BGRA8 || encoding == enc::MONO8 || encoding == enc::MONO16)
{
image = this->image;
}
Expand Down Expand Up @@ -519,19 +519,24 @@ CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, const std::strin
// Loads as BGR or BGRA.
const cv::Mat rgb_a = cv::imdecode(in, cv::IMREAD_UNCHANGED);

switch (rgb_a.channels())
{
case 4:
return toCvCopyImpl(rgb_a, source.header, enc::BGRA8, encoding);
break;
case 3:
return toCvCopyImpl(rgb_a, source.header, enc::BGR8, encoding);
break;
case 1:
return toCvCopyImpl(rgb_a, source.header, enc::MONO8, encoding);
break;
default:
return CvImagePtr();
if (encoding != enc::MONO16) {
switch (rgb_a.channels())
{
case 4:
return toCvCopyImpl(rgb_a, source.header, enc::BGRA8, encoding);
break;
case 3:
return toCvCopyImpl(rgb_a, source.header, enc::BGR8, encoding);
break;
case 1:
return toCvCopyImpl(rgb_a, source.header, enc::MONO8, encoding);
break;
default:
return CvImagePtr();
}
}
else {
return toCvCopyImpl(rgb_a, source.header, enc::MONO16, encoding);
}
}

Expand Down