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Support Bayer image encodings in ColorSubscriber #67

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Merged
nathanhhughes merged 1 commit into from
Jun 12, 2026
Merged

Support Bayer image encodings in ColorSubscriber #67

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7 changes: 4 additions & 3 deletions hydra_ros/src/input/image_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,13 +57,14 @@ ColorSubscriber::Filter& ColorSubscriber::getFilter() const {

void ColorSubscriber::fillInput(const Image& img, ImageInputPacket& packet) const {
// Allow also mono images to be converted to grayscale.
if (sensor_msgs::image_encodings::isColor(img.encoding)) {
if (sensor_msgs::image_encodings::isColor(img.encoding) ||
sensor_msgs::image_encodings::isBayer(img.encoding)) {
try {
packet.color =
cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::RGB8)->image;
return;
} catch (const cv_bridge::Exception& e) {
LOG(ERROR) << "Failed to convert mono image as color input: " << e.what();
LOG(ERROR) << "Failed to convert color image: " << e.what();
return;
}
} else if (sensor_msgs::image_encodings::isMono(img.encoding)) {
Expand All @@ -73,7 +74,7 @@ void ColorSubscriber::fillInput(const Image& img, ImageInputPacket& packet) cons
cv::cvtColor(mono, packet.color, cv::COLOR_GRAY2RGB);
return;
} catch (const cv_bridge::Exception& e) {
LOG(ERROR) << "Failed to convert color image: " << e.what();
LOG(ERROR) << "Failed to convert mono image as color input: " << e.what();
return;
}
}
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