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[rolling] image_publisher: add field of view parameter #985

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merged 6 commits into from
May 28, 2024
Merged

[rolling] image_publisher: add field of view parameter #985

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fc04923
Add field of view parameter
Kotochleb May 26, 2024
4762cac
Use std::tan
Kotochleb May 27, 2024
70bc4ab
Document parameters
Kotochleb May 27, 2024
7f81af6
Allow disabling of focal length calculation
Kotochleb May 27, 2024
861fc8d
Apply formatting
Kotochleb May 27, 2024
76a1aa8
Fix comment
Kotochleb May 27, 2024
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1 change: 1 addition & 0 deletions image_publisher/doc/components.rst
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Expand Up @@ -14,6 +14,7 @@ Published Topics
Parameters
^^^^^^^^^^
* **filename** (string, default: ""): Name of image file to be published.
* **field_of_view** (double, default: 50): Camera field of view (deg) used to calculate focal length for camera info topic.
* **flip_horizontal** (bool, default: false): Flip output image horizontally.
* **flip_vertical** (bool, default: false): Flip output image vertically.
* **frame_id** (string, default: "camera") Frame id inserted in published
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1 change: 1 addition & 0 deletions image_publisher/include/image_publisher/image_publisher.hpp
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Expand Up @@ -65,6 +65,7 @@ class ImagePublisher : public rclcpp::Node
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;

std::string filename_;
double field_of_view_;
bool flip_horizontal_;
bool flip_vertical_;
bool retry_; // If enabled will retry loading image from the filename_
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14 changes: 12 additions & 2 deletions image_publisher/src/image_publisher.cpp
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Expand Up @@ -31,6 +31,7 @@
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include <cmath>
#include <chrono>
#include <string>
#include <thread>
Expand Down Expand Up @@ -60,6 +61,7 @@ ImagePublisher::ImagePublisher(
std::string topic_name = node_base->resolve_topic_or_service_name("image_raw", false);
pub_ = image_transport::create_camera_publisher(this, topic_name);

field_of_view_ = this->declare_parameter("field_of_view", static_cast<double>(50));
flip_horizontal_ = this->declare_parameter("flip_horizontal", false);
flip_vertical_ = this->declare_parameter("flip_vertical", false);
frame_id_ = this->declare_parameter("frame_id", std::string("camera"));
Expand All @@ -79,6 +81,11 @@ ImagePublisher::ImagePublisher(
RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
ImagePublisher::onInit();
return result;
} else if (parameter.get_name() == "field_of_view") {
field_of_view_ = parameter.as_double();
RCLCPP_INFO(get_logger(), "Reset field_of_view as '%f'", field_of_view_);
ImagePublisher::onInit();
return result;
} else if (parameter.get_name() == "flip_horizontal") {
flip_horizontal_ = parameter.as_bool();
RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
Expand Down Expand Up @@ -218,10 +225,13 @@ void ImagePublisher::onInit()
camera_info_.height = image_.rows;
camera_info_.distortion_model = "plumb_bob";
camera_info_.d = {0, 0, 0, 0, 0};
camera_info_.k = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 1,

// Based on https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/
double f_approx = (camera_info_.width / 2) / std::tan((field_of_view_ * M_PI / 180) / 2);
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is the default value 50 returning 1 ? as the current behavior ?

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It doesn't, and I forgot to account for breaking changes. I changed it now so when FOV is 0 or less, it disables the whole feature and uses 1.0 for focal length instead. The default vale is now zero as well, so now the whole thing is not breaking anything.

camera_info_.k = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, f_approx,
static_cast<float>(camera_info_.height / 2), 0, 0, 1};
camera_info_.r = {1, 0, 0, 0, 1, 0, 0, 0, 1};
camera_info_.p = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 0, 1,
camera_info_.p = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, 0, f_approx,
static_cast<float>(camera_info_.height / 2), 0, 0, 0, 1, 0};

timer_ = this->create_wall_timer(
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