SmartBench/cmvr-es
8
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(grpc): preserve BGR snapshot contract

Browse Source
This commit is contained in:
linbo 2026-08-28 11:02:44 +08:00
parent d1b65507d7
commit 0bd6c548c6
1 changed files with 2 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
cmvr-es/service/grpc/src/grpc_camera_service.cpp
View File

@ -12,7 +12,6 @@
#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;
@ -220,13 +219,6 @@ 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());
// FrameData::U8C3 is defined as RGB byte order. OpenCV/RealSense
// color frames are BGR, so normalize the single-frame contract here.
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);
@ -345,12 +337,9 @@ 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());
// FrameData::U8C3 is defined as RGB byte order. OpenCV/RealSense // color image is serialized in the existing OpenCV BGR byte order;
// color frames are BGR, so normalize the single-frame contract here. // clients convert it once when constructing an RGB image.
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) {