DDS Y16 streaming is mono16 for ROS2 compatibility

OhadMeir · Jan 19, 2025 · 855cca4 · 855cca4
1 parent d40c2e2
commit 855cca4
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/third-party/realdds/py/pyrealdds.cpp b/third-party/realdds/py/pyrealdds.cpp
@@ -829,7 +829,7 @@ PYBIND11_MODULE(NAME, m) {
         .def( "__repr__", []( dds_video_encoding const & self ) { return self.to_string(); } );
     video_encoding.attr( "z16" ) = dds_video_encoding( "16UC1" );
     video_encoding.attr( "y8" ) = dds_video_encoding( "mono8" );
-    video_encoding.attr( "y16" ) = dds_video_encoding( "Y16" );  // todo should be mono16
+    video_encoding.attr( "y16" ) = dds_video_encoding( "mono16" );
     video_encoding.attr( "byr2" ) = dds_video_encoding( "BYR2" );
     video_encoding.attr( "yuyv" ) = dds_video_encoding( "yuv422_yuy2" );
     video_encoding.attr( "uyvy" ) = dds_video_encoding( "uyvy" );

diff --git a/third-party/realdds/src/dds-stream-profile.cpp b/third-party/realdds/src/dds-stream-profile.cpp
@@ -80,7 +80,7 @@ int dds_video_encoding::to_rs2() const
         { "mono8", RS2_FORMAT_Y8 },  // Used by IR streams; ROS2-compatible
         { "Y8I",  RS2_FORMAT_Y8I },
         { "W10",  RS2_FORMAT_W10 },
-        { "Y16",  RS2_FORMAT_Y16 },
+        { "mono16",  RS2_FORMAT_Y16 }, // Used by IR streams; ROS2-compatible
         { "Y12I", RS2_FORMAT_Y12I },
 //      { "Y16I", RS2_FORMAT_Y16I },
         { "16UC1", RS2_FORMAT_Z16 },  // Used by depth streams; ROS2-compatible
@@ -113,7 +113,7 @@ dds_video_encoding dds_video_encoding::from_rs2( int rs2_format )
     case RS2_FORMAT_Y8: encoding = "mono8"; break;
     case RS2_FORMAT_Y8I: encoding = "Y8I"; break;
     case RS2_FORMAT_W10: encoding = "W10"; break;
-    case RS2_FORMAT_Y16: encoding = "Y16"; break;
+    case RS2_FORMAT_Y16: encoding = "mono16"; break;
     case RS2_FORMAT_Y12I: encoding = "Y12I"; break;
 //  case RS2_FORMAT_Y16I: encoding = "Y16I"; break;
     case RS2_FORMAT_Z16: encoding = "16UC1"; break;

diff --git a/unit-tests/dds/test-stream-sensor-bridge.py b/unit-tests/dds/test-stream-sensor-bridge.py
@@ -331,12 +331,12 @@ def find_server_profile( stream_name, profile_string ):
     bridge.open( find_server_profile( 'Infrared_1', '1280x800 mono8 @ 30 Hz' ))
     bridge.close( servers['Infrared_1'] )
     bridge.close( servers['Infrared_1'] )
-    bridge.open( find_server_profile( 'Infrared_1', '1280x800 Y16 @ 25 Hz' ))
+    bridge.open( find_server_profile( 'Infrared_1', '1280x800 mono16 @ 25 Hz' ))
     bridge.reset()
-    bridge.open( find_server_profile( 'Infrared_1', '1280x800 Y16 @ 15 Hz' ))
+    bridge.open( find_server_profile( 'Infrared_1', '1280x800 mono16 @ 15 Hz' ))
     test.check_throws( lambda:
-        bridge.open( find_server_profile( 'Infrared_1', '1280x800 Y16 @ 25 Hz' )),
-        RuntimeError, "profile <'Infrared_1' 1280x800 Y16 @ 25 Hz> is incompatible with already-open <'Infrared_1' 1280x800 Y16 @ 15 Hz>" )
+        bridge.open( find_server_profile( 'Infrared_1', '1280x800 mono16 @ 25 Hz' )),
+        RuntimeError, "profile <'Infrared_1' 1280x800 mono16 @ 25 Hz> is incompatible with already-open <'Infrared_1' 1280x800 mono16 @ 15 Hz>" )
 reset()
 #
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