Skip to content

feat: add rgba8 support #109

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
spurnvoj wants to merge 2 commits into
base: ros2
Choose a base branch
from
Open

feat: add rgba8 support #109

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d782b50
feat: add rgba8 support
spurnvoj Jul 24, 2026
7f9064a
docs: document rgba8 as a supported image_encoding value
spurnvoj Jul 24, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ Note that GStreamer is licensed under the LGPL, and GStreamer plugins have their
* `reopen_on_eof`: Re-open the stream if it ends (EOF)
* `sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates)
* `use_gst_timestamps`: Use the GStreamer buffer timestamps for the image message header timestamps (setting this to `false` results in header timestamps being the time that the image buffer transfer is completed)
* `image_encoding`: image encoding ("rgb8", "mono8", "yuv422", "jpeg")
* `image_encoding`: image encoding ("rgb8", "mono8", "yuv422", "rgba8", "jpeg")
* `use_sensor_data_qos`: The flag to use sensor data qos for camera topic(image, camera_info)

## Examples
Expand Down
6 changes: 6 additions & 0 deletions src/gscam.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ bool GSCam::configure()
if (image_encoding_ != sensor_msgs::image_encodings::RGB8 &&
image_encoding_ != sensor_msgs::image_encodings::MONO8 &&
image_encoding_ != sensor_msgs::image_encodings::YUV422 &&
image_encoding_ != sensor_msgs::image_encodings::RGBA8 &&
image_encoding_ != "jpeg")
{
RCLCPP_FATAL_STREAM(get_logger(), "Unsupported image encoding: " + image_encoding_);
Expand Down Expand Up @@ -177,6 +178,11 @@ bool GSCam::init_stream()
"video/x-raw",
"format", G_TYPE_STRING, "UYVY",
NULL);
} else if (image_encoding_ == sensor_msgs::image_encodings::RGBA8) {
caps = gst_caps_new_simple(
"video/x-raw",
"format", G_TYPE_STRING, "RGBA",
NULL);
} else if (image_encoding_ == "jpeg") {
caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
}
Expand Down