/
compressed_publisher.cpp
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/
compressed_publisher.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 20012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include "compressed_image_transport/compressed_publisher.h"
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <boost/make_shared.hpp>
#include "compressed_image_transport/compression_common.h"
#include <vector>
#include <sstream>
// If OpenCV4
#if CV_VERSION_MAJOR > 3
#include <opencv2/imgcodecs/legacy/constants_c.h>
#endif
using namespace cv;
using namespace std;
namespace enc = sensor_msgs::image_encodings;
namespace compressed_image_transport
{
void CompressedPublisher::advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
const image_transport::SubscriberStatusCallback &user_connect_cb,
const image_transport::SubscriberStatusCallback &user_disconnect_cb,
const ros::VoidPtr &tracked_object, bool latch)
{
typedef image_transport::SimplePublisherPlugin<sensor_msgs::CompressedImage> Base;
Base::advertiseImpl(nh, base_topic, queue_size, user_connect_cb, user_disconnect_cb, tracked_object, latch);
// Set up reconfigure server for this topic
reconfigure_server_ = boost::make_shared<ReconfigureServer>(this->nh());
ReconfigureServer::CallbackType f = boost::bind(&CompressedPublisher::configCb, this, _1, _2);
reconfigure_server_->setCallback(f);
}
void CompressedPublisher::configCb(Config& config, uint32_t level)
{
config_ = config;
}
void CompressedPublisher::publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
{
// Compressed image message
sensor_msgs::CompressedImage compressed;
compressed.header = message.header;
compressed.format = message.encoding;
// Compression settings
std::vector<int> params;
// Get codec configuration
compressionFormat encodingFormat = UNDEFINED;
if (config_.format == compressed_image_transport::CompressedPublisher_jpeg)
encodingFormat = JPEG;
if (config_.format == compressed_image_transport::CompressedPublisher_png)
encodingFormat = PNG;
// Bit depth of image encoding
int bitDepth = enc::bitDepth(message.encoding);
int numChannels = enc::numChannels(message.encoding);
switch (encodingFormat)
{
// JPEG Compression
case JPEG:
{
params.resize(9, 0);
params[0] = IMWRITE_JPEG_QUALITY;
params[1] = config_.jpeg_quality;
params[2] = IMWRITE_JPEG_PROGRESSIVE;
params[3] = config_.jpeg_progressive ? 1 : 0;
params[4] = IMWRITE_JPEG_OPTIMIZE;
params[5] = config_.jpeg_optimize ? 1 : 0;
params[6] = IMWRITE_JPEG_RST_INTERVAL;
params[7] = config_.jpeg_restart_interval;
// Update ros message format header
compressed.format += "; jpeg compressed ";
// Check input format
if ((bitDepth == 8) || (bitDepth == 16))
{
// Target image format
std::string targetFormat;
if (enc::isColor(message.encoding))
{
// convert color images to BGR8 format
targetFormat = "bgr8";
compressed.format += targetFormat;
}
// OpenCV-ros bridge
try
{
boost::shared_ptr<CompressedPublisher> tracked_object;
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(message, tracked_object, targetFormat);
// Compress image
if (cv::imencode(".jpg", cv_ptr->image, compressed.data, params))
{
float cRatio = (float)(cv_ptr->image.rows * cv_ptr->image.cols * cv_ptr->image.elemSize())
/ (float)compressed.data.size();
ROS_DEBUG("Compressed Image Transport - Codec: jpg, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size());
}
else
{
ROS_ERROR("cv::imencode (jpeg) failed on input image");
}
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("%s", e.what());
}
catch (cv::Exception& e)
{
ROS_ERROR("%s", e.what());
}
// Publish message
publish_fn(compressed);
}
else
ROS_ERROR("Compressed Image Transport - JPEG compression requires 8/16-bit color format (input format is: %s)", message.encoding.c_str());
break;
}
// PNG Compression
case PNG:
{
params.resize(3, 0);
params[0] = IMWRITE_PNG_COMPRESSION;
params[1] = config_.png_level;
// Update ros message format header
compressed.format += "; png compressed ";
// Check input format
if ((bitDepth == 8) || (bitDepth == 16))
{
// Target image format
stringstream targetFormat;
if (enc::isColor(message.encoding))
{
// convert color images to RGB domain
targetFormat << "bgr" << bitDepth;
compressed.format += targetFormat.str();
}
// OpenCV-ros bridge
try
{
boost::shared_ptr<CompressedPublisher> tracked_object;
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(message, tracked_object, targetFormat.str());
// Compress image
if (cv::imencode(".png", cv_ptr->image, compressed.data, params))
{
float cRatio = (float)(cv_ptr->image.rows * cv_ptr->image.cols * cv_ptr->image.elemSize())
/ (float)compressed.data.size();
ROS_DEBUG("Compressed Image Transport - Codec: png, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size());
}
else
{
ROS_ERROR("cv::imencode (png) failed on input image");
}
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("%s", e.what());
return;
}
catch (cv::Exception& e)
{
ROS_ERROR("%s", e.what());
return;
}
// Publish message
publish_fn(compressed);
}
else
ROS_ERROR("Compressed Image Transport - PNG compression requires 8/16-bit encoded color format (input format is: %s)", message.encoding.c_str());
break;
}
default:
ROS_ERROR("Unknown compression type '%s', valid options are 'jpeg' and 'png'", config_.format.c_str());
break;
}
}
} //namespace compressed_image_transport