migrate and update image_proc docs

image_proc/CMakeLists.txt

@@ -86,27 +86,10 @@ rclcpp_components_register_node(crop_non_zero
   EXECUTABLE crop_non_zero_node
 )
 
-# image_proc example node
-ament_auto_add_executable(image_proc_exe
-  src/image_proc.cpp
-)
-target_link_libraries(image_proc_exe
-  debayer
-  rectify
-  ament_index_cpp::ament_index_cpp
-)
-set_target_properties(image_proc_exe PROPERTIES OUTPUT_NAME image_proc)
-
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   target_link_libraries(image_proc "stdc++fs")
 endif()
 
-install(TARGETS image_proc_exe
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

image_proc/doc/changes.rst

@@ -0,0 +1,12 @@
+Changelog Notes
+===============
+
+Jazzy Jalisco
+-------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` parameter.
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic.

image_proc/doc/components.rst

@@ -0,0 +1,152 @@
+Nodes and Components
+====================
+
+This package includes a number of ROS 2 components that can be assembled
+into image processing pipelines.
+See the tutorial :ref:`Launch image_proc Components`.
+
+Alternatively, each component can be run as a standalone node.
+
+image_proc::CropDecimateNode
+----------------------------
+Applies decimation (software binning) and ROI to a raw camera image
+post-capture. Remap camera and camera_out to the desired input/output
+camera namespaces. Also available as a standalone node with the name
+``crop_decimate_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **in/image_raw** (sensor_msgs/Image): Raw image stream from the camera driver.
+ * **in/camera_info** (sensor_msgs/CameraInfo): Camera metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **out/image_raw** (sensor_msgs/Image): Cropped and decimated "raw" image.
+ * **out/camera_info** (sensor_msgs/CameraInfo): Camera metadata, with binning and
+   ROI fields adjusted to match output raw image.
+
+Parameters
+^^^^^^^^^^
+ * **decimation_x** (int, default: 1): Number of pixels to decimate to one
+   horizontally. Range: 1 to 16
+ * **decimation_y** (int, default: 1): Number of pixels to decimate to one
+   vertically. Range: 1 to 16
+ * **image_transport** (string, default: raw): Image transport to use.
+ * **interpolation** (int, default: 0): Sampling algorithm. Possible values are:
+
+   * NN (0): Nearest-neighbor sampling
+   * Linear (1): Bilinear interpolation
+   * Cubic (2): Bicubic interpolation over 4x4 neighborhood
+   * Area (3): Resampling using pixel area relation
+   * Lanczos4 (4): Lanczos interpolation over 8x8 neighborhood
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   image and camera_info topics. You may need to raise this if images take
+   significantly longer to travel over the network than camera info.
+ * **x_offset** (int, default: 0): X offset of the region of interest. Range: 0 to 2447
+ * **y_offset** (int, default: 0): Y offset of the region of interest. Range: 0 to 2049
+ * **width** (int, default: 0): Width of the region of interest. Range: 0 to 2448
+ * **height** (int, default: 0): Height of the region of interest. Range: 0 to 2050
+
+image_proc::CropNonZeroNode
+---------------------------
+Takes a monochrome image and crops the largest non zero area. Can be used
+on depth images. Also available as a standalone node with the name
+``crop_non_zero_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image_raw** (sensor_msgs/Image): Monochrome or depth image.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **image** (sensor_msgs/Image): Cropped image.
+
+Parameters
+^^^^^^^^^^
+ * **image_transport** (string, default: raw): Image transport to use.
+
+image_proc::DebayerNode
+-----------------------
+Takes a raw camera stream and publishes monochrome and color versions
+of it. If the raw images are Bayer pattern, it debayers using bilinear
+interpolation. Also available as a standalone node with the name
+``debayer_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image_raw** (sensor_msgs/Image): Raw image stream from the camera driver.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **image_mono** (sensor_msgs/Image): Monochrome image.
+ * **image_color** (sensor_msgs/Image): Color unrectified image.
+
+Parameters
+^^^^^^^^^^
+ * **debayer** (int, default: 3): Debayering algorithm. Possible values are:
+
+   * Bilinear (0): Fast algorithm using bilinear interpolation
+   * EdgeAware (1): Edge-aware algorithm
+   * EdgeAwareWeighted (2): Weighted edge-aware algorithm
+   * VNG (3): Slow but high quality Variable Number of Gradients algorithm
+ * **image_transport** (string, default: raw): Image transport to use.
+
+image_proc::RectifyNode
+-----------------------
+Takes an unrectified image stream and its associated calibration parameters,
+and produces rectified images. Also available as a standalone node with the
+name ``recify_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image** (sensor_msgs/Image): Unrectified image stream.
+ * **camera_info** (sensor_msgs/CameraInfo): Camera metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **image_rect** (sensor_msgs/Image): Rectified image.
+
+Parameters
+^^^^^^^^^^
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   ``image`` and ``camera_info`` topics. You may need to raise this if images
+   take significantly longer to travel over the network than camera info.
+ * **image_transport** (string, default: raw): Image transport to use.
+ * **interpolation** (int, default: 1): Interpolation algorithm between source
+   image pixels. Possible values are:
+
+   * NN (0): Nearest neighbor
+   * Linear (1): Linear
+   * Cubic (2): Cubic
+   * Lanczos4 (4): Lanczos4
+
+image_proc::ResizeNode
+----------------------
+Takes image and/or camera info and resize them. Also available as 
+standalone node with the name ``resize_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image/image_raw** (sensor_msgs/Image): Arbitrary image.
+ * **image/camera_info** (sensor_msgs/CameraInfo): Camera parameters.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **resized/image_raw** (sensor_msgs/Image): Resized image.
+ * **resized/camera_info** (sensor_msgs/CameraInfo): Resized camera info.
+
+Parameters
+^^^^^^^^^^
+ * **image_transport** (string, default: raw): Image transport to use.
+ * **interpolation** (int, default: 0): Sampling algorithm. Possible values are:
+
+   * NN (0): Nearest-neighbor sampling
+   * Linear (1): Bilinear interpolation
+   * Cubic (2): Bicubic interpolation over 4x4 neighborhood
+   * Area (3): Resampling using pixel area relation
+   * Lanczos4 (4): Lanczos interpolation over 8x8 neighborhood
+ * **use_scale** (bool, default: True): Use scale parameters, or absolute height/width.
+ * **scale_height** (float, default: 1.0): Height scaling of image.
+ * **scale_width** (float, default: 1.0): Width scaling of image.
+ * **height** (float): Absolute height of resized image, if ``use_scale`` is false.
+ * **width** (float): Absolute width of resized image, if ``use_scale`` is false.

image_proc/doc/conf.py

@@ -0,0 +1,194 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'image_proc'
+copyright = '2008-2024, Open Source Robotics Foundation, Inc.'  # noqa
+author = 'Open Source Robotics Foundation, Inc.'
+
+# The short X.Y version
+version = ''
+# The full version, including alpha/beta/rc tags
+release = '3.2.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+    'sphinx_rtd_theme',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'image_proc_doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'image_proc', 'image_proc Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'image_proc', 'image_proc Documentation',
+     author, 'image_proc', 'ROS 2 components for image processing.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': True,  # document members
+    'undoc-members': True,  # also document members without documentation
+}