From 9b1265456f060b27c4e92902673828b5ba76dfcf Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 10 Jun 2024 08:51:40 -0400
Subject: [PATCH] image_publisher: Fix image, constantly flipping when static
 image is published (backport #986) (#987)
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Continuation of
https://github.com/ros-perception/image_pipeline/pull/984.

When publishing video stream from a camera, the image was flipped
correctly. Yet for a static image, which was loaded once, the flip
function was applied every time `ImagePublisher::doWork()` was called,
resulting in the published image being flipped back and forth all the
time.

This PR should be straightforward to port it to `Humble`, `Iron` and
`Jazzy`.<hr>This is an automatic backport of pull request #986 done by
[Mergify](https://mergify.com).

Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 image_publisher/include/image_publisher/image_publisher.hpp | 1 +
 image_publisher/src/image_publisher.cpp                     | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/image_publisher/include/image_publisher/image_publisher.hpp b/image_publisher/include/image_publisher/image_publisher.hpp
index ae31210d0..1ad1dcdea 100644
--- a/image_publisher/include/image_publisher/image_publisher.hpp
+++ b/image_publisher/include/image_publisher/image_publisher.hpp
@@ -68,6 +68,7 @@ class ImagePublisher : public rclcpp::Node
   double field_of_view_;
   bool flip_horizontal_;
   bool flip_vertical_;
+  bool image_flipped_;
   bool retry_;  // If enabled will retry loading image from the filename_
   int timeout_;  // Time after which retrying starts
 
diff --git a/image_publisher/src/image_publisher.cpp b/image_publisher/src/image_publisher.cpp
index dc6649e39..939656899 100644
--- a/image_publisher/src/image_publisher.cpp
+++ b/image_publisher/src/image_publisher.cpp
@@ -152,9 +152,11 @@ void ImagePublisher::doWork()
       if (!cap_.read(image_)) {
         cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
       }
+      image_flipped_ = false;
     }
-    if (flip_image_) {
+    if (flip_image_ && !image_flipped_) {
       cv::flip(image_, image_, flip_value_);
+      image_flipped_ = true;
     }
 
     sensor_msgs::msg::Image::SharedPtr out_img =
@@ -221,6 +223,7 @@ void ImagePublisher::onInit()
   } else {
     flip_image_ = false;
   }
+  image_flipped_ = false;  // Image newly read, needs to be flipped
 
   camera_info_.width = image_.cols;
   camera_info_.height = image_.rows;