Convert format by mainipulating pixels

samples/device/camera.cc

@@ -121,8 +121,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_data.frame->height(), right_data.frame->width(), CV_8UC3,
           right_data.frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;

samples/uvc/camera.cc

@@ -144,7 +144,6 @@ int main(int argc, char *argv[]) {
 
     // only lastest frame is valid
     cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, CV_BGR2RGB);
     cv::imshow("frame", img);
 
     frame = nullptr;

src/mynteye/api/synthetic.cc

@@ -47,7 +47,6 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
     return img;
   } else if (frame->format() == Format::BGR888) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
-    cv::cvtColor(img, img, CV_BGR2RGB);
     return img;
   } else {
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());

src/mynteye/device/streams.cc

@@ -78,8 +78,8 @@ bool unpack_left_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::BGR888) {
+  if (request.format == Format::YUYV) {
-    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t n = 2;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
@@ -87,6 +87,20 @@ bool unpack_left_img_pixels(
         frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
       }
     }
+  } else if (request.format == Format::BGR888) {
+    std::size_t n = 3;
+    std::size_t w = frame->width();
+    std::size_t h = frame->height();
+    for (std::size_t i = 0; i < h; i++) {
+      for (std::size_t j = 0; j < w; j++) {
+        frame->data()[(i * w + j) * n] =
+          *(data_new + (2 * i * w + j) * n + 2);
+        frame->data()[(i * w + j) * n + 1] =
+          *(data_new + (2 * i * w + j) * n + 1);
+        frame->data()[(i * w + j) * n + 2] =
+          *(data_new + (2 * i * w + j) * n);
+      }
+    }
   } else if (request.format == Format::GREY) {
     std::size_t n = frame->width() * frame->height();
     for (std::size_t i = 0; i < n; i++) {
@@ -105,8 +119,8 @@ bool unpack_right_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::BGR888) {
+  if (request.format == Format::YUYV) {
-    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t n = 2;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
@@ -114,6 +128,20 @@ bool unpack_right_img_pixels(
         frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
       }
     }
+  } else if (request.format == Format::BGR888) {
+    std::size_t n = 3;
+    std::size_t w = frame->width();
+    std::size_t h = frame->height();
+    for (std::size_t i = 0; i < h; i++) {
+      for (std::size_t j = 0; j < w; j++) {
+        frame->data()[(i * w + j) * n] =
+          *(data_new + ((2 * i + 1) * w + j) * n + 2);
+        frame->data()[(i * w + j) * n + 1] =
+          *(data_new + ((2 * i + 1) * w + j) * n + 1);
+        frame->data()[(i * w + j) * n + 2] =
+          *(data_new + ((2 * i + 1) * w + j) * n);
+      }
+    }
   } else if (request.format == Format::GREY) {
     std::size_t n = frame->width() * frame->height();
     for (std::size_t i = 0; i < n; i++) {

tools/dataset/dataset.cc

@@ -80,7 +80,6 @@ void Dataset::SaveStreamData(
       cv::Mat img(
           data.frame->height(), data.frame->width(), CV_8UC3,
           data.frame->data());
-      // cv::cvtColor(img, img, CV_BGR2RGB);
       cv::imwrite(ss.str(), img);
     } else {
       cv::Mat img(

tools/dataset/record.cc

@@ -87,8 +87,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;

tools/dataset/record2.cc

@@ -90,8 +90,6 @@ int main(int argc, char *argv[]) {
       cv::Mat right_img(
           right_frame->height(), right_frame->width(), CV_8UC3,
           right_frame->data());
-      cv::cvtColor(left_img, left_img, CV_BGR2RGB);
-      cv::cvtColor(right_img, right_img, CV_BGR2RGB);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;