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[image_tools] Update ROSCVMatContainer and do not convert color space of frames #623

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[image_tools] Update ROSCVMatContainer and do not convert color space of frames #623

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24 changes: 21 additions & 3 deletions image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <cstddef>
#include <memory>
#include <optional>
#include <variant> // NOLINT[build/include_order]

#include "opencv2/core/mat.hpp"
Expand Down Expand Up @@ -85,6 +86,7 @@ enum class endian
*/
class ROSCvMatContainer
{
public:
static constexpr bool is_bigendian_system = detail::endian::native == detail::endian::big;

public:
Expand Down Expand Up @@ -141,14 +143,16 @@ class ROSCvMatContainer
ROSCvMatContainer(
const cv::Mat & mat_frame,
const std_msgs::msg::Header & header,
bool is_bigendian = is_bigendian_system);
bool is_bigendian = is_bigendian_system,
std::optional<std::string> encoding_override = std::nullopt);

/// Move the given cv::Mat into this class.
IMAGE_TOOLS_PUBLIC
ROSCvMatContainer(
cv::Mat && mat_frame,
const std_msgs::msg::Header & header,
bool is_bigendian = is_bigendian_system);
bool is_bigendian = is_bigendian_system,
std::optional<std::string> encoding_override = std::nullopt);

/// Copy the sensor_msgs::msg::Image into this contain and create a cv::Mat that references it.
IMAGE_TOOLS_PUBLIC
Expand Down Expand Up @@ -212,11 +216,17 @@ class ROSCvMatContainer
bool
is_bigendian() const;

/// Return the encoding override if provided.
IMAGE_TOOLS_PUBLIC
std::optional<std::string>
encoding_override() const;

private:
std_msgs::msg::Header header_;
cv::Mat frame_;
SensorMsgsImageStorageType storage_;
bool is_bigendian_;
std::optional<std::string> encoding_override_;
};

} // namespace image_tools
Expand All @@ -236,7 +246,14 @@ struct rclcpp::TypeAdapter<image_tools::ROSCvMatContainer, sensor_msgs::msg::Ima
{
destination.height = source.cv_mat().rows;
destination.width = source.cv_mat().cols;
switch (source.cv_mat().type()) {
const auto& encoding_override = source.encoding_override();
if (encoding_override.has_value() && !encoding_override.value().empty())
{
destination.encoding = encoding_override.value();
}
else
{
switch (source.cv_mat().type()) {
case CV_8UC1:
destination.encoding = "mono8";
break;
Expand All @@ -251,6 +268,7 @@ struct rclcpp::TypeAdapter<image_tools::ROSCvMatContainer, sensor_msgs::msg::Ima
break;
default:
throw std::runtime_error("unsupported encoding type");
}
}
destination.step = static_cast<sensor_msgs::msg::Image::_step_type>(source.cv_mat().step);
size_t size = source.cv_mat().step * source.cv_mat().rows;
Expand Down
18 changes: 17 additions & 1 deletion image_tools/src/cam2image.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <chrono>
#include <memory>
#include <optional>
#include <sstream>
#include <string>
#include <utility>
Expand Down Expand Up @@ -148,7 +149,12 @@ class Cam2Image : public rclcpp::Node
std_msgs::msg::Header header;
header.frame_id = frame_id_;
header.stamp = this->now();
image_tools::ROSCvMatContainer container(frame, header);
image_tools::ROSCvMatContainer container(
frame,
header,
ROSCvMatContainer::is_bigendian_system,
encoding_override_
);

// Publish the image message and increment the publish_number_.
RCLCPP_INFO(get_logger(), "Publishing image #%zd", publish_number_++);
Expand Down Expand Up @@ -249,6 +255,15 @@ class Cam2Image : public rclcpp::Node
burger_mode_desc.description = "Produce images of burgers rather than connecting to a camera";
burger_mode_ = this->declare_parameter("burger_mode", false, burger_mode_desc);
frame_id_ = this->declare_parameter("frame_id", "camera_frame");
std::string encoding_override = this->declare_parameter("encoding_override", "");
if (encoding_override.empty())
{
encoding_override_ = std::nullopt;
}
else
{
encoding_override_ = std::move(encoding_override);
}
}

cv::VideoCapture cap;
Expand All @@ -269,6 +284,7 @@ class Cam2Image : public rclcpp::Node
bool burger_mode_;
std::string frame_id_;
int device_id_;
std::optional<std::string> encoding_override_;

/// If true, will cause the incoming camera image message to flip about the y-axis.
bool is_flipped_;
Expand Down
55 changes: 36 additions & 19 deletions image_tools/src/cv_mat_sensor_msgs_image_type_adapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,21 +100,25 @@ ROSCvMatContainer::ROSCvMatContainer(
ROSCvMatContainer::ROSCvMatContainer(
const cv::Mat & mat_frame,
const std_msgs::msg::Header & header,
bool is_bigendian)
bool is_bigendian,
std::optional<std::string> encoding_override)
: header_(header),
frame_(mat_frame),
storage_(nullptr),
is_bigendian_(is_bigendian)
is_bigendian_(is_bigendian),
encoding_override_(encoding_override)
{}

ROSCvMatContainer::ROSCvMatContainer(
cv::Mat && mat_frame,
const std_msgs::msg::Header & header,
bool is_bigendian)
bool is_bigendian,
std::optional<std::string> encoding_override)
: header_(header),
frame_(std::forward<cv::Mat>(mat_frame)),
storage_(nullptr),
is_bigendian_(is_bigendian)
is_bigendian_(is_bigendian),
encoding_override_(encoding_override)
{}

ROSCvMatContainer::ROSCvMatContainer(
Expand Down Expand Up @@ -175,21 +179,28 @@ ROSCvMatContainer::get_sensor_msgs_msg_image_copy(
{
sensor_msgs_image.height = frame_.rows;
sensor_msgs_image.width = frame_.cols;
switch (frame_.type()) {
case CV_8UC1:
sensor_msgs_image.encoding = "mono8";
break;
case CV_8UC3:
sensor_msgs_image.encoding = "bgr8";
break;
case CV_16SC1:
sensor_msgs_image.encoding = "mono16";
break;
case CV_8UC4:
sensor_msgs_image.encoding = "rgba8";
break;
default:
throw std::runtime_error("unsupported encoding type");
if (encoding_override_.has_value() && !encoding_override_.value().empty())
{
sensor_msgs_image.encoding = encoding_override_.value();
}
else
{
switch (frame_.type()) {
case CV_8UC1:
sensor_msgs_image.encoding = "mono8";
break;
case CV_8UC3:
sensor_msgs_image.encoding = "bgr8";
break;
case CV_16SC1:
sensor_msgs_image.encoding = "mono16";
break;
case CV_8UC4:
sensor_msgs_image.encoding = "rgba8";
break;
default:
throw std::runtime_error("unsupported encoding type");
}
}
sensor_msgs_image.step = static_cast<sensor_msgs::msg::Image::_step_type>(frame_.step);
size_t size = frame_.step * frame_.rows;
Expand All @@ -204,4 +215,10 @@ ROSCvMatContainer::is_bigendian() const
return is_bigendian_;
}

std::optional<std::string>
ROSCvMatContainer::encoding_override() const
{
return encoding_override_;
}

} // namespace image_tools
12 changes: 6 additions & 6 deletions image_tools/src/showimage.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,12 +179,12 @@ class ShowImage : public rclcpp::Node
if (show_image) {
cv::Mat frame = container.cv_mat();

if (frame.type() == CV_8UC3 /* rgb8 */) {
cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR);
} else if (frame.type() == CV_8UC2) {
container.is_bigendian() ? cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_UYVY) :
cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_YUYV);
}
// if (frame.type() == CV_8UC3 /* rgb8 */) {
// cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR);
// } else if (frame.type() == CV_8UC2) {
// container.is_bigendian() ? cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_UYVY) :
// cv::cvtColor(frame, frame, cv::COLOR_YUV2BGR_YUYV);
// }

// Show the image in a window
cv::imshow(window_name_, frame);
Expand Down