YUV420 decoding

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Hi all,

I am writing a ROS node for parrot bebop drone. I am at the point where I get a video stream from a robot and want to convert it to a ROS topic. sensor_msgs::Image I think is the most suitable one. I want other video processing, displaying nodes to be able to subscribe to my topic. Here is my problem: the video is encoded with YUV420 which is as far as I now is not supported by sensor_messages::Image and video nodes. Given this what are my options? Convert my video to other encoding type? but which one? are there performance implications? is there a conversation that has least impact?