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reapply yuv encoding deprecation #257

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reapply yuv encoding deprecation #257

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2cd5ec7
mark encodings YUV422 and YUV422_YUY2 as deprecated
christianrauch May 11, 2024
23e84d3
replace deprecated encodings in encoding test
christianrauch May 11, 2024
e387982
ignore deprecation warning inside the encoding header
christianrauch May 25, 2024
ae55818
ignore deprecation warning inside the encoding header on Windows
christianrauch Sep 5, 2024
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38 changes: 38 additions & 0 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 @@ -97,9 +97,11 @@ const char BAYER_GRBG16[] = "bayer_grbg16";
// https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/pixfmt-packed-yuv.html#id1
// fourcc: UYVY
const char UYVY[] = "uyvy";
[[deprecated("use sensor_msgs::image_encodings::UYVY")]]
const char YUV422[] = "yuv422"; // deprecated
// fourcc: YUYV
const char YUYV[] = "yuyv";
[[deprecated("use sensor_msgs::image_encodings::YUYV")]]
const char YUV422_YUY2[] = "yuv422_yuy2"; // deprecated

// YUV 4:2:0 encodings with an 8-bit depth
Expand All @@ -120,13 +122,25 @@ const std::regex cv_type_regex("(8|16|32|64)(U|S|F)C([0-9]*)");
// Utility functions for inspecting an encoding string
static inline bool isColor(const std::string & encoding)
{
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
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For the sake of maintenance, can we scope down where the ifdef/pragmas are required?

I think we could use a function like:

static inline bool isPackedYUV(const std::string& encoding)

That contains the deprecation suppression, and then use that in the other functions?

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Do you also want to use isPackedYUV as a public function? Eventually, the deprecated encodings will be removed. If this is a functionality that is supposed to be exposed to a user and used often, then I can add a isPackedYUV. But doing this just for the more narrow scoping of the encodings is a maintenance overhead IMHO.

return encoding == RGB8 || encoding == BGR8 ||
encoding == RGBA8 || encoding == BGRA8 ||
encoding == RGB16 || encoding == BGR16 ||
encoding == RGBA16 || encoding == BGRA16 ||
encoding == YUV422 || encoding == YUV422_YUY2 ||
encoding == UYVY || encoding == YUYV ||
encoding == NV21 || encoding == NV24;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
}

static inline bool isMono(const std::string & encoding)
Expand Down Expand Up @@ -189,6 +203,13 @@ static inline int numChannels(const std::string & encoding)
return (m[3] == "") ? 1 : std::atoi(m[3].str().c_str());
}

#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
if (encoding == YUV422 ||
encoding == YUV422_YUY2 ||
encoding == UYVY ||
Expand All @@ -198,6 +219,11 @@ static inline int numChannels(const std::string & encoding)
{
return 2;
}
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

throw std::runtime_error("Unknown encoding " + encoding);
return -1;
Expand Down Expand Up @@ -241,6 +267,13 @@ static inline int bitDepth(const std::string & encoding)
return std::atoi(m[0].str().c_str());
}

#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
if (encoding == YUV422 ||
encoding == YUV422_YUY2 ||
encoding == UYVY ||
Expand All @@ -250,6 +283,11 @@ static inline int bitDepth(const std::string & encoding)
{
return 8;
}
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

throw std::runtime_error("Unknown encoding " + encoding);
return -1;
Expand Down
8 changes: 4 additions & 4 deletions sensor_msgs/test/test_image_encodings.cpp
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Expand Up @@ -48,8 +48,8 @@ TEST(sensor_msgs, NumChannels)
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC"), 1);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC3"), 3);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC10"), 10);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("yuv422"), 2);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("yuv422_yuy2"), 2);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("uyvy"), 2);
ASSERT_EQ(sensor_msgs::image_encodings::numChannels("yuyv"), 2);
}

TEST(sensor_msgs, bitDepth)
Expand All @@ -68,6 +68,6 @@ TEST(sensor_msgs, bitDepth)
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC3"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC10"), 64);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("yuv422"), 8);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("yuv422_yuy2"), 8);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("uyvy"), 8);
ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("yuyv"), 8);
}