[ADD] flag for jpeg compression of bayer format

ros-perception · May 13, 2022 · 4c2a8a5 · 4c2a8a5
1 parent bb08603
commit 4c2a8a5
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 1 deletion.
diff --git a/compressed_image_transport/include/compressed_image_transport/compressed_publisher.h b/compressed_image_transport/include/compressed_image_transport/compressed_publisher.h
@@ -76,6 +76,7 @@ class CompressedPublisher : public image_transport::SimplePublisherPlugin<Compre
     // JPEG Quality from 0 to 100 (higher is better quality).
     // Default to OpenCV default of 95.
     int jpeg_quality;
+    bool jpeg_compress_bayer;
 
     // TIFF resolution unit
     // Can be one of "none", "inch", "centimeter".

diff --git a/compressed_image_transport/src/compressed_publisher.cpp b/compressed_image_transport/src/compressed_publisher.cpp
@@ -49,6 +49,7 @@
 constexpr const char* kDefaultFormat = "jpeg";
 constexpr int kDefaultPngLevel = 3;
 constexpr int kDefaultJpegQuality = 95;
+constexpr bool kDefaultJpegCompressBayer = false;
 
 using namespace cv;
 using namespace std;
@@ -121,6 +122,20 @@ void CompressedPublisher::advertiseImpl(
     config_.jpeg_quality = node->get_parameter(jpeg_quality_param_name).get_value<int64_t>();
   }
 
+  std::string jpeg_compress_bayer_param_name = param_base_name + ".jpeg_compress_bayer";
+  rcl_interfaces::msg::ParameterDescriptor jpeg_compress_bayer_description;
+  jpeg_compress_bayer_description.name = "jpeg_compress_bayer";
+  jpeg_compress_bayer_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+  jpeg_compress_bayer_description.description = "Compress bayer format without converting to mono8 first";
+  jpeg_compress_bayer_description.read_only = false;
+  try {
+    config_.jpeg_compress_bayer = node->declare_parameter(
+        jpeg_compress_bayer_param_name, kDefaultJpegCompressBayer, jpeg_compress_bayer_description);
+  } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
+    RCLCPP_DEBUG(logger_, "%s was previously declared", jpeg_compress_bayer_param_name.c_str());
+    config_.jpeg_compress_bayer = node->get_parameter(jpeg_compress_bayer_param_name).get_value<bool>();
+  }
+
   std::string tiff_res_unit_param_name = param_base_name + ".tiff.res_unit";
   rcl_interfaces::msg::ParameterDescriptor tiff_res_unit_description;
   tiff_res_unit_description.description = "tiff resolution unit";
@@ -206,7 +221,13 @@ void CompressedPublisher::publish(
           // convert color images to BGR8 format
           targetFormat = "bgr8";
           compressed.format += targetFormat;
-        } else {
+        }
+        else if (enc::isBayer(message.encoding) and config_.jpeg_compress_bayer)
+        {
+          targetFormat = message.encoding;
+          compressed.format += targetFormat;
+        }
+        else {
           // convert gray images to mono8 format
           targetFormat = "mono8";
           compressed.format += targetFormat;