sensor_msgs::msg::Image TakePicturesNode::NV122RGB( const sensor_msgs::msg::Image &image_nv12,const cv::Mat&mat_dst) { sensor_msgs::msg::Image image_rgb; image_rgb.header = image_nv12.header; image_rgb.height = mat_dst.rows; image_rgb.width = mat_dst.cols; image_rgb.encoding = "rgb8"; image_rgb.step = mat_dst.cols * mat_dst.elemSize(); size_t size = mat_dst.rows * mat_dst.cols * mat_dst.elemSize(); image_rgb.data.resize(size); memcpy(image_rgb.data.data(), mat_dst.data, size); return image_rgb; }
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