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fix(camera): normalize snapshot RGB channel order

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This commit is contained in:
linbo 2026-08-26 16:26:29 +08:00
parent 8a98b77a04
commit 03476734d4
1 changed files with 13 additions and 2 deletions
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15
cmvr-es/service/grpc/src/grpc_camera_service.cpp
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@ -12,6 +12,7 @@
#include <cstdint> #include <cstdint>
#include <limits> #include <limits>
#include <thread> #include <thread>
#include <utility>
using namespace std; using namespace std;
using namespace cmvr::service; using namespace cmvr::service;
@ -219,6 +220,13 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
response->mutable_header()->set_success(true); response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp()); setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
// Keep the single-frame contract explicit: FrameData::U8C3 is RGB
// byte order, while OpenCV/RealSense images are normally BGR.
if (image.type() == CV_8UC3) {
cv::Mat rgb_image;
cv::cvtColor(image, rgb_image, cv::COLOR_BGR2RGB);
image = std::move(rgb_image);
}
auto imageType = image.type(); auto imageType = image.type();
if (imageType == CV_8UC1) { if (imageType == CV_8UC1) {
response->mutable_color_frame()->set_type(api::FrameData::U8C1); response->mutable_color_frame()->set_type(api::FrameData::U8C1);
@ -337,9 +345,12 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
response->mutable_header()->set_success(true); response->mutable_header()->set_success(true);
setCurrentTimestamp(response->mutable_header()->mutable_timestamp()); setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
// color image is serialized in the existing OpenCV BGR byte order; // Keep the single-frame contract explicit: FrameData::U8C3 is RGB
// clients convert it once when constructing an RGB image. // byte order, while OpenCV/RealSense images are normally BGR.
if (color_image.type() == CV_8UC3) { if (color_image.type() == CV_8UC3) {
cv::Mat rgb_image;
cv::cvtColor(color_image, rgb_image, cv::COLOR_BGR2RGB);
color_image = std::move(rgb_image);
response->mutable_color_frame()->set_type(api::FrameData::U8C3); response->mutable_color_frame()->set_type(api::FrameData::U8C3);
} }
else if (color_image.type() == CV_16UC3) { else if (color_image.type() == CV_16UC3) {