fixup image_pipeline_demo (#755)

Signed-off-by: William Woodall <wjwwood@intrinsic.ai>
(cherry picked from commit 91c63e5)

Author: wjwwood

intra_process_demo/include/image_pipeline/camera_node.hpp

@@ -41,7 +41,7 @@ class CameraNode final : public rclcpp::Node
   /// \param height What video height to capture at
   explicit CameraNode(
     const std::string & output, const std::string & node_name = "camera_node",
-    bool watermark = true, int device = 0, int width = 320, int height = 240)
+    bool watermark = true, int device = 0, int width = 640, int height = 480)
   : Node(node_name, rclcpp::NodeOptions().use_intra_process_comms(true)),
     canceled_(false), watermark_(watermark)
   {

intra_process_demo/include/image_pipeline/common.hpp

@@ -81,7 +81,7 @@ draw_on_image(cv::Mat & image, const std::string & text, int height)
     text.c_str(),
     cv::Point(10, height),
     cv::FONT_HERSHEY_SIMPLEX,
-    0.3,
+    0.5,
     cv::Scalar(0, 255, 0));
 }
 

intra_process_demo/include/image_pipeline/image_view_node.hpp

@@ -41,12 +41,12 @@ class ImageViewNode final : public rclcpp::Node
     sub_ = this->create_subscription<sensor_msgs::msg::Image>(
       input,
       rclcpp::SensorDataQoS(),
-      [node_name, watermark](sensor_msgs::msg::Image::ConstSharedPtr msg) {
+      [node_name, watermark](sensor_msgs::msg::Image::UniquePtr msg) {
         // Create a cv::Mat from the image message (without copying).
         cv::Mat cv_mat(
           msg->height, msg->width,
           encoding2mat_type(msg->encoding),
-          const_cast<unsigned char *>(msg->data.data()));
+          msg->data.data());
         if (watermark) {
           // Annotate with the pid and pointer address.
           std::stringstream ss;

intra_process_demo/src/image_pipeline/image_pipeline_all_in_one.cpp

@@ -35,7 +35,8 @@ int main(int argc, char * argv[])
   }
   auto watermark_node =
     std::make_shared<WatermarkNode>("image", "watermarked_image", "Hello world!");
-  auto image_view_node = std::make_shared<ImageViewNode>("watermarked_image");
+  auto image_view_node =
+    std::make_shared<ImageViewNode>("watermarked_image", "image_pipeline_all_in_one");
 
   executor.add_node(camera_node);
   executor.add_node(watermark_node);

intra_process_demo/src/image_pipeline/image_pipeline_with_two_image_view.cpp

@@ -36,8 +36,10 @@ int main(int argc, char * argv[])
   }
   auto watermark_node =
     std::make_shared<WatermarkNode>("image", "watermarked_image", "Hello world!");
-  auto image_view_node = std::make_shared<ImageViewNode>("watermarked_image");
-  auto image_view_node2 = std::make_shared<ImageViewNode>("watermarked_image", "image_view_node2");
+  auto image_view_node =
+    std::make_shared<ImageViewNode>("watermarked_image", "image_pipeline_with_two_image_view");
+  auto image_view_node2 =
+    std::make_shared<ImageViewNode>("watermarked_image", "image_pipeline_with_two_image_view2");
 
   executor.add_node(camera_node);
   executor.add_node(watermark_node);