Refactored use of av_device_format

ros-drivers · Nov 4, 2023 · 2c57145 · 2c57145
1 parent 49d0a21
commit 2c57145
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Showing 3 changed files with 44 additions and 39 deletions.
diff --git a/include/usb_cam/formats/av_pixel_format_helper.hpp b/include/usb_cam/formats/av_pixel_format_helper.hpp
@@ -31,6 +31,8 @@
 #define USB_CAM__FORMATS__AV_PX_FMT_HELPER_HPP_
 
 #include <unordered_map>
+#include <algorithm>
+#include <string>
 
 extern "C" {
 #define __STDC_CONSTANT_MACROS  // Required for libavutil
@@ -45,6 +47,7 @@ namespace usb_cam
 namespace formats
 {
 
+/// Map to associate string of pixel format name to actual pixel format enum
 const std::unordered_map<std::string, AVPixelFormat> STR_2_AVPIXFMT = {
     {stringify(AV_PIX_FMT_NONE), AV_PIX_FMT_NONE},
     {stringify(AV_PIX_FMT_YUV420P), AV_PIX_FMT_YUV420P},        ///< planar YUV 4:2:0, 12bpp, (1 Cr & Cb sample per 2x2 Y samples)
@@ -335,6 +338,29 @@ const std::unordered_map<std::string, AVPixelFormat> STR_2_AVPIXFMT = {
     {stringify(AV_PIX_FMT_NB), AV_PIX_FMT_NB},                          ///< number of pixel formats, DO NOT USE THIS if you want to link with shared libav* because the number of formats might differ between versions
 };
 
+/// @brief Get AVPixelFormat from string. This string should correspond to the AVPixelFormat name. 
+/// The name can either be given with or without the 'AV_PIX_FMT_' prefix.
+/// @param str AVPixelFormat name
+/// @return Pixel format enum corresponding to a given name
+inline AVPixelFormat get_av_pixel_format_from_string (const std::string& str)
+{
+  std::string upperCaseStr = str;
+  std::transform(upperCaseStr.begin(), upperCaseStr.end(), upperCaseStr.begin(), ::toupper);
+
+  std::string fullFmtStr;
+  if(upperCaseStr.rfind("AV_PIX_FMT_", 0) == std::string::npos)
+  {
+      // passed string does not start with 'AV_PIX_FMT_'
+      fullFmtStr = "AV_PIX_FMT_" + upperCaseStr;
+  }
+  else
+  {
+      fullFmtStr = upperCaseStr;
+  }
+
+  return STR_2_AVPIXFMT.find(fullFmtStr)->second;
+}
+
 }  // namespace formats
 }  // namespace usb_cam
 

diff --git a/include/usb_cam/usb_cam.hpp b/include/usb_cam/usb_cam.hpp
@@ -273,14 +273,12 @@ class UsbCam
     return m_supported_formats;
   }
 
-  /// @brief Get pixel format from string. Required to have logic within UsbCam object
+  /// @brief Set pixel format from parameter list. Required to have logic within UsbCam object
   /// in case pixel format class requires additional information for conversion function
   /// (e.g. number of pixels, width, height, etc.)
-  /// @param pixFmtStr name of supported format (see `usb_cam/supported_formats.hpp`)
-  /// @param avDevFmtStr name of av device format (only used for mjpeg stream)
+  /// @param parameters list of parameters from which the pixel format is to be set
   /// @return pixel format structure corresponding to a given name
-  inline std::shared_ptr<pixel_format_base> set_pixel_format_from_string(const std::string & pixFmtStr,
-                                                                         const std::string & avDevFmtStr)
+  inline std::shared_ptr<pixel_format_base> set_pixel_format(const parameters_t & parameters)
   {
     using usb_cam::formats::RGB8;
     using usb_cam::formats::YUYV;
@@ -293,57 +291,39 @@ class UsbCam
     using usb_cam::formats::MJPEG2RGB;
     using usb_cam::formats::M4202RGB;
 
-    if (pixFmtStr == "rgb8") {
+    if (parameters.pixel_format_name == "rgb8") {
       m_image.pixel_format = std::make_shared<RGB8>();
-    } else if (pixFmtStr == "yuyv") {
+    } else if (parameters.pixel_format_name == "yuyv") {
       m_image.pixel_format = std::make_shared<YUYV>();
-    } else if (pixFmtStr == "yuyv2rgb") {
+    } else if (parameters.pixel_format_name == "yuyv2rgb") {
       // number of pixels required for conversion method
       m_image.pixel_format = std::make_shared<YUYV2RGB>(m_image.number_of_pixels);
-    } else if (pixFmtStr == "uyvy") {
+    } else if (parameters.pixel_format_name == "uyvy") {
       m_image.pixel_format = std::make_shared<UYVY>();
-    } else if (pixFmtStr == "uyvy2rgb") {
+    } else if (parameters.pixel_format_name == "uyvy2rgb") {
       // number of pixels required for conversion method
       m_image.pixel_format = std::make_shared<UYVY2RGB>(m_image.number_of_pixels);
-    } else if (pixFmtStr == "mjpeg2rgb") {
+    } else if (parameters.pixel_format_name == "mjpeg2rgb") {
       m_image.pixel_format = std::make_shared<MJPEG2RGB>(
-        m_image.width, m_image.height, get_av_pixel_format_from_string(avDevFmtStr));
-    } else if (pixFmtStr == "m4202rgb") {
+        m_image.width, m_image.height, 
+        formats::get_av_pixel_format_from_string(parameters.av_device_format));
+    } else if (parameters.pixel_format_name == "m4202rgb") {
       m_image.pixel_format = std::make_shared<M4202RGB>(
         m_image.width, m_image.height);
-    } else if (pixFmtStr == "mono8") {
+    } else if (parameters.pixel_format_name == "mono8") {
       m_image.pixel_format = std::make_shared<MONO8>();
-    } else if (pixFmtStr == "mono16") {
+    } else if (parameters.pixel_format_name == "mono16") {
       m_image.pixel_format = std::make_shared<MONO16>();
-    } else if (pixFmtStr == "y102mono8") {
+    } else if (parameters.pixel_format_name == "y102mono8") {
       m_image.pixel_format = std::make_shared<Y102MONO8>(m_image.number_of_pixels);
     } else {
-      throw std::invalid_argument("Unsupported pixel format specified: " + pixFmtStr);
+      throw std::invalid_argument("Unsupported pixel format specified: " + 
+                                  parameters.pixel_format_name);
     }
 
     return m_image.pixel_format;
   }
 
-  inline AVPixelFormat get_av_pixel_format_from_string (const std::string& str)
-  {
-    std::string upperCaseStr = str;
-    std::transform(upperCaseStr.begin(), upperCaseStr.end(), upperCaseStr.begin(), ::toupper);
-
-    std::string fullFmtStr;
-    if(upperCaseStr.rfind("AV_PIX_FMT_", 0) == std::string::npos)
-    {
-        // passed string does not start with 'AV_PIX_FMT_'
-        fullFmtStr = "AV_PIX_FMT_" + upperCaseStr;
-    }
-    else
-    {
-        fullFmtStr = upperCaseStr;
-    }
-
-    return usb_cam::formats::STR_2_AVPIXFMT.find(fullFmtStr)->second;
-  }
-
-
 private:
   void init_read();
   void init_mmap();

diff --git a/src/usb_cam.cpp b/src/usb_cam.cpp
@@ -521,8 +521,7 @@ void UsbCam::configure(
   m_image.set_number_of_pixels();
 
   // Do this before calling set_bytes_per_line and set_size_in_bytes
-  m_image.pixel_format = set_pixel_format_from_string(parameters.pixel_format_name,
-                                                      parameters.av_device_format);
+  m_image.pixel_format = set_pixel_format(parameters);
   m_image.set_bytes_per_line();
   m_image.set_size_in_bytes();
   m_framerate = parameters.framerate;