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image_proc: consistent image_transport #884

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merged 2 commits into from
Jan 19, 2024
Merged

image_proc: consistent image_transport #884

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e90b674
image_proc: consistent image_transport
mikeferguson Jan 19, 2024
24afb85
add string
mikeferguson Jan 19, 2024
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1 change: 1 addition & 0 deletions image_proc/include/image_proc/crop_decimate.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ class CropDecimateNode : public rclcpp::Node
int queue_size_;
std::string target_frame_id_;
int decimation_x_, decimation_y_, offset_x_, offset_y_, width_, height_;
std::string image_topic_;
CropDecimateModes interpolation_;

void imageCb(
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3 changes: 3 additions & 0 deletions image_proc/include/image_proc/crop_non_zero.hpp
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Expand Up @@ -34,6 +34,7 @@
#define IMAGE_PROC__CROP_NON_ZERO_HPP_

#include <mutex>
#include <string>

#include <image_transport/image_transport.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -48,6 +49,8 @@ class CropNonZeroNode : public rclcpp::Node
explicit CropNonZeroNode(const rclcpp::NodeOptions &);

private:
std::string image_topic_;

// Subscriptions
image_transport::Subscriber sub_raw_;

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2 changes: 2 additions & 0 deletions image_proc/include/image_proc/debayer.hpp
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Expand Up @@ -33,6 +33,7 @@
#ifndef IMAGE_PROC__DEBAYER_HPP_
#define IMAGE_PROC__DEBAYER_HPP_

#include <string>
#include <image_transport/image_transport.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
Expand All @@ -50,6 +51,7 @@ class DebayerNode
image_transport::Subscriber sub_raw_;

int debayer_;
std::string image_topic_;

int debayer_bilinear_ = 0;
int debayer_edgeaware_ = 1;
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18 changes: 14 additions & 4 deletions image_proc/src/crop_decimate.cpp
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Expand Up @@ -108,7 +108,13 @@ void decimate(const cv::Mat & src, cv::Mat & dst, int decimation_x, int decimati
CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
: Node("CropNonZeroNode", options)
{
auto qos_profile = getTopicQosProfile(this, "in/image_raw");
// TransportHints does not actually declare the parameter
this->declare_parameter<std::string>("image_transport", "raw");

// For compressed topics to remap appropriately, we need to pass a
// fully expanded and remapped topic name to image_transport
auto node_base = this->get_node_base_interface();
image_topic_ = node_base->resolve_topic_or_service_name("in/image_raw", false);

queue_size_ = this->declare_parameter("queue_size", 5);
target_frame_id_ = this->declare_parameter("target_frame_id", std::string());
Expand All @@ -135,13 +141,17 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
if (pub_.getNumSubscribers() == 0) {
sub_.shutdown();
} else if (!sub_) {
auto qos_profile = getTopicQosProfile(this, "in/image_raw");
auto qos_profile = getTopicQosProfile(this, image_topic_);
image_transport::TransportHints hints(this);
sub_ = image_transport::create_camera_subscription(
this, "in/image_raw", std::bind(
this, image_topic_, std::bind(
&CropDecimateNode::imageCb, this,
std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
std::placeholders::_1, std::placeholders::_2), hints.getTransport(), qos_profile);
}
};

// Create publisher with same QoS as subscribed topic
auto qos_profile = getTopicQosProfile(this, image_topic_);
pub_ = image_transport::create_camera_publisher(this, "out/image_raw", qos_profile, pub_options);
}

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35 changes: 28 additions & 7 deletions image_proc/src/crop_non_zero.cpp
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Expand Up @@ -33,6 +33,7 @@
#include <algorithm>
#include <functional>
#include <iterator>
#include <string>
#include <vector>

#include "cv_bridge/cv_bridge.hpp"
Expand All @@ -52,14 +53,34 @@ namespace image_proc
CropNonZeroNode::CropNonZeroNode(const rclcpp::NodeOptions & options)
: Node("CropNonZeroNode", options)
{
// TransportHints does not actually declare the parameter
this->declare_parameter<std::string>("image_transport", "raw");
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include header <string>

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string is already in the header file for this class - hence why the linter is asking for it to be added in this file


// For compressed topics to remap appropriately, we need to pass a
// fully expanded and remapped topic name to image_transport
auto node_base = this->get_node_base_interface();
image_topic_ = node_base->resolve_topic_or_service_name("image_raw", false);

// Create image pub with connection callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo &)
{
if (pub_.getNumSubscribers() == 0) {
sub_raw_.shutdown();
} else if (!sub_raw_) {
auto qos_profile = getTopicQosProfile(this, image_topic_);
image_transport::TransportHints hints(this);
sub_raw_ = image_transport::create_subscription(
this, image_topic_, std::bind(
&CropNonZeroNode::imageCb, this,
std::placeholders::_1), hints.getTransport(), qos_profile);
}
};

// Create publisher with same QoS as subscribed topic
auto qos_profile = getTopicQosProfile(this, "image_raw");
pub_ = image_transport::create_publisher(this, "image", qos_profile);
RCLCPP_INFO(this->get_logger(), "subscribe: %s", "image_raw");
sub_raw_ = image_transport::create_subscription(
this, "image_raw",
std::bind(
&CropNonZeroNode::imageCb,
this, std::placeholders::_1), "raw", qos_profile);
pub_ = image_transport::create_publisher(this, "image", qos_profile, pub_options);
}

void CropNonZeroNode::imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)
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20 changes: 16 additions & 4 deletions image_proc/src/debayer.cpp
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Expand Up @@ -32,6 +32,7 @@

#include <functional>
#include <memory>
#include <string>

#include <opencv2/imgproc/imgproc.hpp>

Expand All @@ -52,7 +53,14 @@ namespace image_proc
DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
: Node("DebayerNode", options)
{
auto qos_profile = getTopicQosProfile(this, "image_raw");
// TransportHints does not actually declare the parameter
this->declare_parameter<std::string>("image_transport", "raw");
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include header <string>


// For compressed topics to remap appropriately, we need to pass a
// fully expanded and remapped topic name to image_transport
auto node_base = this->get_node_base_interface();
image_topic_ = node_base->resolve_topic_or_service_name("image_raw", false);

// Create publisher options to setup callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
Expand All @@ -61,14 +69,18 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
if (pub_mono_.getNumSubscribers() == 0 && pub_color_.getNumSubscribers() == 0) {
sub_raw_.shutdown();
} else if (!sub_raw_) {
auto qos_profile = getTopicQosProfile(this, "image_raw");
auto qos_profile = getTopicQosProfile(this, image_topic_);
image_transport::TransportHints hints(this);
sub_raw_ = image_transport::create_subscription(
this, "image_raw",
this, image_topic_,
std::bind(
&DebayerNode::imageCb, this,
std::placeholders::_1), "raw", qos_profile);
std::placeholders::_1), hints.getTransport(), qos_profile);
}
};

// Create publisher with same QoS as subscribed topic
auto qos_profile = getTopicQosProfile(this, image_topic_);
pub_mono_ = image_transport::create_publisher(this, "image_mono", qos_profile, pub_options);
pub_color_ = image_transport::create_publisher(this, "image_color", qos_profile, pub_options);
debayer_ = this->declare_parameter("debayer", 3);
Expand Down
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