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Convert image to grayscale #145

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Convert image to grayscale #145

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22 changes: 14 additions & 8 deletions camera/camera_balsaq.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,10 @@ void CameraBq::init(const Config& config) {
}

void CameraBq::loop() {
cv::Mat camera_frame;
cv::Mat camera_frame_rgb;
std::cout << "Camera BQ: trying to get a frame" << std::endl;

if (cap_.read(camera_frame)) {
if (cap_.read(camera_frame_rgb)) {
// Get the image capture timestamp, which is the time that the first byte was captured, as returned by clock_gettime().
const long int cap_time_msec = cap_.get(cv::CAP_PROP_POS_MSEC);
const Timestamp cap_time_vehicle = msec_monotonic_to_vehicle_monotonic(cap_time_msec);
Expand All @@ -79,15 +79,21 @@ void CameraBq::loop() {

// Pack a message
CameraImageMessage message;
const std::size_t n_elements = camera_frame.rows * camera_frame.cols * 3u;
message.image_data.resize(n_elements);
cv::Mat image_gray;
cv::cvtColor(camera_frame_rgb, image_gray, cv::COLOR_BGR2GRAY);

constexpr uint8_t IMAGE_DEPTH = 1u;
const std::size_t n_elements = image_gray.rows * image_gray.cols * IMAGE_DEPTH;
constexpr std::size_t SIZE_OF_UCHAR = sizeof(uint8_t);
if (camera_frame.isContinuous()) {
std::memcpy(message.image_data.data(), camera_frame.data, SIZE_OF_UCHAR * n_elements);
message.image_data.resize(n_elements);
if (image_gray.isContinuous()) {
std::memcpy(message.image_data.data(), image_gray.data, SIZE_OF_UCHAR * n_elements);
} else {
std::cerr << "Cannot possibly make good frames" << std::endl;
}
message.timestamp = cap_time_vehicle;
message.height = camera_frame.size().height;
message.width = camera_frame.size().width;
message.height = image_gray.size().height;
message.width = image_gray.size().width;
message.camera_serial_number = camera_serial_number_;
publisher_->publish(message);
std::cout << "Camera BQ: publishes a camera frame " << message.width << " " << message.height << std::endl;
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4 changes: 2 additions & 2 deletions camera/camera_image_message.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@
namespace jet {

cv::Mat get_image_mat(const CameraImageMessage& message) {
cv::Mat result = cv::Mat(message.height, message.width, CV_8UC3);
const std::size_t n_elements = message.height * message.width * 3u;
cv::Mat result = cv::Mat(message.height, message.width, CV_8UC1);
const std::size_t n_elements = message.height * message.width * 1u;
constexpr std::size_t SIZE_OF_UCHAR = sizeof(uint8_t);
std::memcpy(result.data, message.image_data.data(),
SIZE_OF_UCHAR * n_elements);
Expand Down