Nv12 color format

[quic-zhaoyuan]

Overview

This PR adds NV12-to-RGB conversion functionality to rviz2. It leverages the newly introduced NV12 encoding in the ROS2 common_interfaces (see ros2/common_interfaces#253).

Details

• Introduced a dedicated function convertNV12ToRGBData() for NV12 images.
• Ensured correct UV plane indexing according to the updated NV12 memory layout.
• Expanded setFormatAndNormalizeDataIfNecessary() to handle the "nv12" encoding.
• Verified that the output size is consistent with the expected 3×width×height RGB buffer.

Rationale

Previously, rviz2 did not include a built-in NV12 conversion, resulting in garbled or miscolored images when receiving NV12-encoded topics. With the new encoding support merged into common_interfaces, this PR provides a seamless way to correctly display NV12 image streams in rviz2.

Testing

• Tested locally with NV12 image streams from a camera driver.
• Verified that the displayed image colors match the expected RGB output.

Dependencies

This PR relies on the changes merged in ros2/common_interfaces#253, which introduced the NV12 encoding definition into sensor_msgs.

---

Thank you for reviewing and considering this PR! If you have any questions or need additional information, please let me know.

[ahcorde]

Pulls: #1318
Gist: https://gist.githubusercontent.com/ahcorde/786fda3ef5979b1e138c79651e557ab1/raw/dfe7832043d13963dcfb61fae91273454b9dc9b7/ros2.repos
BUILD args: --packages-up-to rviz_default_plugins --packages-above-and-dependencies rviz_default_plugins
TEST args: --packages-select rviz_default_plugins --packages-above rviz_default_plugins
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15002

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[quic-zhaoyuan]

Hi @ahcorde ,
According to the log, seems the latest change has not been involved into CI
18:24:03 /tmp/ws/src/rviz/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp:494:56: error: ‘NV12’ is not a member of ‘sensor_msgs::image_encodings’; did you mean ‘NV21’?

Thanks,
Zhaoyuan

[christophebedard]

@ros-pull-request-builder retest this please

[christophebedard]

Oh right, the Rpr CI job listed here on GitHub is expected to fail until a new release of sensor_msgs that includes ros2/common_interfaces#253 is made and a sync is done.

[zycczy]

Sure

Oh right, the Rpr CI job listed here on GitHub is expected to fail until a new release of sensor_msgs that includes ros2/common_interfaces#253 is made and a sync is done.

[ahcorde]

@quic-zhaoyuan Do you mind to merge with rolling ? I think the warnings that I see on the CI are already fixed

[quic-zhaoyuan]

sure, this PR is set to commit into rolling I think

@quic-zhaoyuan Do you mind to merge with rolling ? I think the warnings that I see on the CI are already fixed