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YUV420 support #166

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YUV420 support #166

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c50214e
Added YUV420 encoding support
luca-della-vedova Sep 2, 2020
4747913
Add comment for YUV420
luca-della-vedova Sep 2, 2020
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7 changes: 6 additions & 1 deletion sensor_msgs/include/sensor_msgs/image_encodings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,8 @@ namespace sensor_msgs
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
// with an 8-bit depth
const std::string YUV422="yuv422";
// YUV420 format, 12 bits per pixel
const std::string YUV420="yuv420";

// Prefixes for abstract image encodings
const std::string ABSTRACT_ENCODING_PREFIXES[] = {
Expand Down Expand Up @@ -176,6 +178,9 @@ namespace sensor_msgs
if (encoding == YUV422)
return 2;

if (encoding == YUV420)
return 1;

throw std::runtime_error("Unknown encoding " + encoding);
return -1;
}
Expand Down Expand Up @@ -221,7 +226,7 @@ namespace sensor_msgs
return atoi(prefix.c_str()); // valid encoding string
}

if (encoding == YUV422)
if (encoding == YUV422 || encoding == YUV420)
return 8;

throw std::runtime_error("Unknown encoding " + encoding);
Expand Down