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fix(grpc): preserve BGR snapshot contract

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This commit is contained in:
linbo 2026-08-28 11:02:44 +08:00
parent be2977211b
commit c5d19889d1
1 changed files with 2 additions and 13 deletions
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15
cmvr-es/service/grpc/src/grpc_camera_service.cpp
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@ -7,7 +7,6 @@
#include <limits>
#include <thread>
#include <utility>
using namespace std;
using namespace cmvr::service;
@ -144,13 +143,6 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImage(grpc::ServerContext* context,
response->mutable_header()->set_success(true);
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();
if (imageType == CV_8UC1) {
response->mutable_color_frame()->set_type(api::FrameData::U8C1);
@ -268,12 +260,9 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImages(grpc::ServerContext* context,
response->mutable_header()->set_success(true);
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.
// color image is serialized in the existing OpenCV BGR byte order;
// clients convert it once when constructing an RGB image.
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);
}
else if (color_image.type() == CV_16UC3) {