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Enable grayscale encoding in LibavStreamer #179

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Enable grayscale encoding in LibavStreamer #179

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4 changes: 0 additions & 4 deletions src/image_streamer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,10 +148,6 @@ cv::Mat ImageTransportImageStreamer::decodeImage(
cv::Mat_<float> float_image = float_image_bridge;
double max_val;
cv::minMaxIdx(float_image, 0, &max_val);

if (max_val > 0) {
float_image *= (255 / max_val);
}
return float_image;
} else {
// Convert to OpenCV native BGR color
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8 changes: 7 additions & 1 deletion src/libav_streamer.cpp
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Expand Up @@ -225,7 +225,13 @@ void LibavStreamer::sendImage(
first_image_time_ = time;
}

AVPixelFormat input_coding_format = AV_PIX_FMT_BGR24;
AVPixelFormat input_coding_format;
if (img.channels() == 1) {
img.convertTo(img, CV_32FC1);
input_coding_format = AV_PIX_FMT_GRAYF32;
} else {
input_coding_format = AV_PIX_FMT_BGR24;
}

AVFrame * raw_frame = av_frame_alloc();
av_image_fill_arrays(
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