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functionality for compression quality #23

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Mar 1, 2024
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functionality for compression quality #23

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56 changes: 55 additions & 1 deletion src/CameraNode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#include <map>
#include <memory>
#include <mutex>
#include <opencv2/imgcodecs.hpp>
#include <optional>
#include <rcl/context.h>
#include <rcl_interfaces/msg/detail/floating_point_range__struct.hpp>
Expand All @@ -48,6 +49,7 @@
#include <rclcpp/qos_event.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include <sensor_msgs/msg/detail/camera_info__struct.hpp>
#include <sensor_msgs/msg/detail/compressed_image__struct.hpp>
#include <sensor_msgs/msg/detail/image__struct.hpp>
Expand All @@ -60,6 +62,7 @@
#include <unordered_map>
#include <utility>
#include <vector>
namespace enc = sensor_msgs::image_encodings;
namespace rclcpp
{
class NodeOptions;
Expand Down Expand Up @@ -108,6 +111,8 @@ class CameraNode : public rclcpp::Node
// keep track of set parameters
ParameterMap parameters_full;
std::mutex parameters_lock;
// compression quality parameter
std::atomic_uint8_t jpeg_quality;

void
declareParameters();
Expand Down Expand Up @@ -164,6 +169,18 @@ CameraNode::CameraNode(const rclcpp::NodeOptions &options) : Node("camera", opti
// camera ID
declare_parameter("camera", rclcpp::ParameterValue {}, param_descr_ro.set__dynamic_typing(true));

rcl_interfaces::msg::ParameterDescriptor jpeg_quality_description;
jpeg_quality_description.name = "jpeg_quality";
jpeg_quality_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
jpeg_quality_description.description = "Image quality for JPEG format";
jpeg_quality_description.read_only = false;
rcl_interfaces::msg::IntegerRange jpeg_range;
jpeg_range.from_value = 1;
jpeg_range.to_value = 100;
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jpeg_range.step = 1;
jpeg_quality_description.integer_range = {jpeg_range};
// default to 95
jpeg_quality = declare_parameter<uint8_t>("jpeg_quality", 95, jpeg_quality_description);
// publisher for raw and compressed image
pub_image = this->create_publisher<sensor_msgs::msg::Image>("~/image_raw", 1);
pub_image_compressed =
Expand Down Expand Up @@ -481,6 +498,40 @@ CameraNode::declareParameters()
set_parameters(parameters_init_list);
}

// The following function "compressImageMsg" is adapted from "CvImage::toCompressedImageMsg"
// (https://github.com/ros-perception/vision_opencv/blob/066793a23e5d06d76c78ca3d69824a501c3554fd/cv_bridge/src/cv_bridge.cpp#L512-L535)
// and covered by the BSD-3-Clause licence.
void
compressImageMsg(const sensor_msgs::msg::Image &source,
sensor_msgs::msg::CompressedImage &destination,
const std::vector<int> &params = std::vector<int>())
{
std::shared_ptr<CameraNode> tracked_object;
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(source, tracked_object);

destination.header = source.header;
cv::Mat image;
if (cv_ptr->encoding == enc::BGR8 || cv_ptr->encoding == enc::BGRA8 ||
cv_ptr->encoding == enc::MONO8 || cv_ptr->encoding == enc::MONO16)
{
image = cv_ptr->image;
}
else {
cv_bridge::CvImagePtr tempThis = std::make_shared<cv_bridge::CvImage>(*cv_ptr);
cv_bridge::CvImagePtr temp;
if (enc::hasAlpha(cv_ptr->encoding)) {
temp = cv_bridge::cvtColor(tempThis, enc::BGRA8);
}
else {
temp = cv_bridge::cvtColor(tempThis, enc::BGR8);
}
image = temp->image;
}

destination.format = "jpg";
cv::imencode(".jpg", image, destination.data, params);
}

void
CameraNode::requestComplete(libcamera::Request *request)
{
Expand Down Expand Up @@ -523,7 +574,7 @@ CameraNode::requestComplete(libcamera::Request *request)

// compress to jpeg
if (pub_image_compressed->get_subscription_count())
cv_bridge::toCvCopy(*msg_img)->toCompressedImageMsg(*msg_img_compressed);
compressImageMsg(*msg_img, *msg_img_compressed, {cv::IMWRITE_JPEG_QUALITY, jpeg_quality});
}
else if (format_type(cfg.pixelFormat) == FormatType::COMPRESSED) {
// compressed image
Expand Down Expand Up @@ -634,6 +685,9 @@ CameraNode::onParameterChange(const std::vector<rclcpp::Parameter> &parameters)
parameters_full[parameter.get_name()] = parameter.get_parameter_value();
}
}
else if (!parameter.get_name().compare("jpeg_quality")) {
jpeg_quality = parameter.get_parameter_value().get<uint8_t>();
}
}

return result;
Expand Down
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