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fix camera

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cyy_mac
2026-03-28 04:59:54 +08:00
parent f07070cbe3
commit 2ea8e25ec4
1 changed files with 57 additions and 25 deletions
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82
src/rm_hardware_driver/ros2_hik_camera/src/hik_camera_node.cpp
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@@ -377,37 +377,69 @@ private:
continue;
}
// Ensure output buffer
const size_t need_size =
static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight * 3;
if (image_msg_.data.size() != need_size) {
image_msg_.data.resize(need_size);
}
// Handle different pixel formats
// Mono8 (0x1080009) needs to be converted to RGB8 by duplicating the channel
// RGB8 (PixelType_Gvsp_RGB8_Packed = 0x02100014) can be used directly
const bool is_mono8 = (out_frame.stFrameInfo.enPixelType == 0x1080009);
const bool is_rgb8 = (out_frame.stFrameInfo.enPixelType == 0x02100014);
convert_param_.pDstBuffer = image_msg_.data.data();
convert_param_.nDstBufferSize = image_msg_.data.size();
convert_param_.pSrcData = out_frame.pBufAddr;
convert_param_.nSrcDataLen = out_frame.stFrameInfo.nFrameLen;
convert_param_.enSrcPixelType = out_frame.stFrameInfo.enPixelType;
{
std::lock_guard<std::mutex> lock(camera_mutex_);
if (!is_open_ || camera_handle_ == nullptr) {
continue;
if (is_mono8) {
// Convert Mono8 to RGB8 by duplicating the single channel
const size_t mono_size = static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight;
const size_t rgb_size = mono_size * 3;
if (image_msg_.data.size() != rgb_size) {
image_msg_.data.resize(rgb_size);
}
ret = MV_CC_ConvertPixelType(camera_handle_, &convert_param_);
}
if (ret != MV_OK) {
FYT_WARN("camera_driver", "ConvertPixelType failed: [0x{:x}], src_pixel_type=0x{:x}, width={}, height={}",
ret, out_frame.stFrameInfo.enPixelType, out_frame.stFrameInfo.nWidth, out_frame.stFrameInfo.nHeight);
uint8_t* src = static_cast<uint8_t*>(out_frame.pBufAddr);
uint8_t* dst = image_msg_.data.data();
for (size_t i = 0; i < mono_size; i++) {
dst[i * 3 + 0] = src[i]; // B
dst[i * 3 + 1] = src[i]; // G
dst[i * 3 + 2] = src[i]; // R
}
image_msg_.encoding = "rgb8";
} else if (is_rgb8) {
// Already RGB8, just copy directly
const size_t rgb_size = static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight * 3;
if (image_msg_.data.size() != rgb_size) {
image_msg_.data.resize(rgb_size);
}
memcpy(image_msg_.data.data(), out_frame.pBufAddr, rgb_size);
image_msg_.encoding = "rgb8";
} else {
// Try SDK conversion for other formats
const size_t need_size =
static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight * 3;
if (image_msg_.data.size() != need_size) {
image_msg_.data.resize(need_size);
}
convert_param_.pDstBuffer = image_msg_.data.data();
convert_param_.nDstBufferSize = image_msg_.data.size();
convert_param_.pSrcData = out_frame.pBufAddr;
convert_param_.nSrcDataLen = out_frame.stFrameInfo.nFrameLen;
convert_param_.enSrcPixelType = out_frame.stFrameInfo.enPixelType;
{
std::lock_guard<std::mutex> lock(camera_mutex_);
if (camera_handle_ != nullptr) {
(void)MV_CC_FreeImageBuffer(camera_handle_, &out_frame);
if (!is_open_ || camera_handle_ == nullptr) {
continue;
}
ret = MV_CC_ConvertPixelType(camera_handle_, &convert_param_);
}
fail_count_++;
continue;
if (ret != MV_OK) {
FYT_WARN("camera_driver", "ConvertPixelType failed: [0x{:x}], src_pixel_type=0x{:x}, width={}, height={}",
ret, out_frame.stFrameInfo.enPixelType, out_frame.stFrameInfo.nWidth, out_frame.stFrameInfo.nHeight);
{
std::lock_guard<std::mutex> lock(camera_mutex_);
if (camera_handle_ != nullptr) {
(void)MV_CC_FreeImageBuffer(camera_handle_, &out_frame);
}
}
fail_count_++;
continue;
}
image_msg_.encoding = "rgb8";
}
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