Executables in image_tools

[Yadunund]

Setup

• DDS vendor: FastDDS
• BuildType: Debian
• Os: Ubuntu Jammy
• Chip: Amd64

Checks

• Check cam2image

  details

  Try

  1. # User input in terminal 1
     ros2 run image_tools cam2image

• Check showimage

  details

  Try

  1. # User input in terminal 1
     ros2 run image_tools showimage

---

You can find the code used to generate this test case here

[jjd9]

I would like to do this one please.

Terminal 1

ros2 run image_tools showimage --ros-args -p show_image:=true --ros-args -p window_name:="VeggieBurgers" --ros-args -p reliability:=best_effort

Terminal 2:

ros2 run image_tools cam2image --ros-args -p burger_mode:=true --ros-args -p reliability:=best_effort --ros-args -p width:=640 --ros-args -p height:=480

Image displayed in opencv GUI:

These executable's both appear to work properly.

One oddity (not really a bug, just something i found odd during testing with my webcam) is that that the cv::Mat adapter these executable's use doesnt preserve channel ordering. (e.g. if you have cam2image publish your webcam video and visualize it using showimage, cam2image is publishing a BGR image but showimage assumes any CV_8UC3 image it receives is RGB (since all the cv::Mat message conveys is that the image is CV_8UC3).

[clalancette]

One oddity (not really a bug, just something i found odd during testing with my webcam) is that that the cv::Mat adapter these executable's use doesnt preserve channel ordering. (e.g. if you have cam2image publish your webcam video and visualize it using showimage, cam2image is publishing a BGR image but showimage assumes any CV_8UC3 image it receives is RGB (since all the cv::Mat message conveys is that the image is CV_8UC3).

Hm, that does sound like a bit of a bug. Could you please open up an issue at https://github.com/ros2/demos describing this issue? We probably won't have time to fix it for Iron, but it is something we should track.

[jjd9]

One oddity (not really a bug, just something i found odd during testing with my webcam) is that that the cv::Mat adapter these executable's use doesnt preserve channel ordering. (e.g. if you have cam2image publish your webcam video and visualize it using showimage, cam2image is publishing a BGR image but showimage assumes any CV_8UC3 image it receives is RGB (since all the cv::Mat message conveys is that the image is CV_8UC3).

Hm, that does sound like a bit of a bug. Could you please open up an issue at https://github.com/ros2/demos describing this issue? We probably won't have time to fix it for Iron, but it is something we should track.

Sure! Issue posted: ros2/demos#612

[clalancette]

Sure! Issue posted: ros2/demos#612

Thank you, it is much appreciated.

Given that, I'm going to close this out. Thank you for testing!