Merge pull request jsk-ros-pkg#2745 from knorth55/dual-fisheye-image-…

…transport [jsk_perception] support image_transport in DualFisheyeToPanorama
k-okada · Dec 13, 2022 · 9ac8536 · 9ac8536
2 parents e8e5ac3 + 5eafa3f
commit 9ac8536
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diff --git a/doc/jsk_perception/nodes/fisheye_stitcher.md → ...ception/nodes/dual_fisheye_to_panorama.md b/doc/jsk_perception/nodes/fisheye_stitcher.md → ...ception/nodes/dual_fisheye_to_panorama.md
@@ -1,5 +1,6 @@
-# FisheyeStitcher
-![](images/fisheye_stitcher.jpg)
+# DualFisheyeToPanorama
+
+![](images/dual_fisheye_to_panorama.jpg)
 
 Generate panorama image by stitching dual-fisheye camera images.
 This is ROS wrapper of [drNoob13/fisheyeStitcher](https://github.com/drNoob13/fisheyeStitcher)
@@ -14,7 +15,16 @@ This is ROS wrapper of [drNoob13/fisheyeStitcher](https://github.com/drNoob13/fi
 
   Output panorama image.
 
+  Output topic is published by `image_transport` plugins, so `~output/compressed` topic is also available.
+
 ## Parameters
+
+* `~image_transport` (String, default `raw`)
+
+  Image transport type for `~input` topic.
+
+  You can choose `compressed` and so on to subscribe `~input/compressed` compressed image.
+
 * `~light_compen` (Bool, default: false)
 
   Light Fall-off Compensation. The outer edge of the fisheye image has low brightness.

diff --git a/...ception/nodes/images/fisheye_stitcher.jpg → ...nodes/images/dual_fisheye_to_panorama.jpg b/...ception/nodes/images/fisheye_stitcher.jpg → ...nodes/images/dual_fisheye_to_panorama.jpg
diff --git a/jsk_perception/include/jsk_perception/dual_fisheye_to_panorama.h b/jsk_perception/include/jsk_perception/dual_fisheye_to_panorama.h
@@ -50,6 +50,7 @@
 #include <jsk_perception/DualFisheyeConfig.h>
 
 #include <opencv2/opencv.hpp>
+#include <image_transport/image_transport.h>
 
 #include "jsk_perception/fisheye_stitcher.hpp"
 
@@ -76,8 +77,8 @@ namespace jsk_perception
 
     bool sticher_initialized_;
     boost::shared_ptr<stitcher::FisheyeStitcher> stitcher_;
-    ros::Subscriber sub_image_;
-    ros::Publisher pub_panorama_image_;
+    image_transport::Subscriber sub_image_;
+    image_transport::Publisher pub_panorama_image_;
     ros::Publisher pub_panorama_info_;
 
     jsk_recognition_msgs::PanoramaInfo msg_panorama_info_;
@@ -96,7 +97,6 @@ namespace jsk_perception
     int output_image_height_;
     int output_image_width_;
     std::string mls_map_path_;
-
   private:
   };
 }

diff --git a/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch b/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch
@@ -6,6 +6,7 @@
   <arg name="fovd" default="185.0" doc="Camera's Field of View [degree]" />
   <arg name="save_unwarped" default="false" doc="Save unwarped fisheye images. This is useful to create MLS grids." />
   <arg name="resolution_mode" default="high" doc="Resolution mode, 'high' or 'low'" />
+  <arg name="image_transport" default="raw"/>
 
   <node name="dual_fisheye_to_panorama"
         pkg="nodelet" type="nodelet"
@@ -15,6 +16,7 @@
     <param name="refine_align" value="$(arg refine_align)" />
     <param name="fovd" value="$(arg fovd)" />
     <param name="save_unwarped" value="$(arg save_unwarped)" />
+    <param name="image_transport" value="$(arg image_transport)"/>
     <rosparam
         command="load"
         file="$(find jsk_perception)/config/dual_fisheye_to_panorama/$(arg resolution_mode)_resolution_config.yaml"

diff --git a/jsk_perception/sample/sample_insta360_air.launch b/jsk_perception/sample/sample_insta360_air.launch
@@ -25,6 +25,8 @@
   <arg name="refine_align" default="false" />
   <arg name="save_unwarped" default="false" />
   <arg name="panorama_resolution_mode" default="high" />
+  <arg name="panorama_image_transport" default="raw"/>
+
   <arg name="gui" default="true" />
 
   <!-- Publish camera image -->
@@ -98,6 +100,7 @@
     <arg name="refine_align" value="$(arg refine_align)" />
     <arg name="save_unwarped" value="$(arg save_unwarped)" />
     <arg name="resolution_mode" value="$(arg panorama_resolution_mode)" />
+    <arg name="image_transport" value="$(arg panorama_image_transport)" />
   </include>
 
   <group if="$(arg gui)">

diff --git a/jsk_perception/src/dual_fisheye_to_panorama.cpp b/jsk_perception/src/dual_fisheye_to_panorama.cpp
@@ -36,7 +36,7 @@
 #include "jsk_perception/dual_fisheye_to_panorama.h"
 #include <jsk_topic_tools/log_utils.h>
 #include <cv_bridge/cv_bridge.h>
-#include <sensor_msgs/Image.h>
+#include <image_transport/image_transport.h>
 #include <sensor_msgs/image_encodings.h>
 #include <jsk_recognition_msgs/PanoramaInfo.h>
 #include <algorithm>
@@ -78,7 +78,7 @@ namespace jsk_perception
     ROS_INFO("blend_param_row_end : %d", blend_param_row_end_);
     ROS_INFO("output_image_height : %d", output_image_height_);
     ROS_INFO("output_image_width  : %d", output_image_width_);
-    pub_panorama_image_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
+    pub_panorama_image_ = advertiseImage(*pnh_, "output", 1);
     pub_panorama_info_ = advertise<jsk_recognition_msgs::PanoramaInfo>(*pnh_, "panorama_info", 1);
 
     sticher_initialized_ = false;
@@ -103,7 +103,9 @@ namespace jsk_perception
 
   void DualFisheyeToPanorama::subscribe()
   {
-    sub_image_ = pnh_->subscribe("input", 1, &DualFisheyeToPanorama::rectify, this);
+    image_transport::ImageTransport it(*pnh_);
+    image_transport::TransportHints hints("raw", ros::TransportHints(), *pnh_, "image_transport");
+    sub_image_ = it.subscribe(pnh_->resolveName("input"), 1, &DualFisheyeToPanorama::rectify, this, hints);
     ros::V_string names = boost::assign::list_of("~input");
     jsk_topic_tools::warnNoRemap(names);
   }