compressed_publisher.cpp

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#include "compressed_image_transport/compressed_publisher.h"
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <boost/make_shared.hpp>
 
#include "compressed_image_transport/compression_common.h"
 
#include <vector>
#include <sstream>
 
// If OpenCV4
#if CV_VERSION_MAJOR > 3
#include <opencv2/imgcodecs/legacy/constants_c.h>
#endif
 
using namespace cv;
using namespace std;
 
namespace enc = sensor_msgs::image_encodings;
 
namespace compressed_image_transport
{
 
void CompressedPublisher::advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
                                        const image_transport::SubscriberStatusCallback &user_connect_cb,
                                        const image_transport::SubscriberStatusCallback &user_disconnect_cb,
                                        const ros::VoidPtr &tracked_object, bool latch)
{
  typedef image_transport::SimplePublisherPlugin<sensor_msgs::CompressedImage> Base;
  Base::advertiseImpl(nh, base_topic, queue_size, user_connect_cb, user_disconnect_cb, tracked_object, latch);
 
  // Set up reconfigure server for this topic
  reconfigure_server_ = boost::make_shared<ReconfigureServer>(this->nh());
  ReconfigureServer::CallbackType f = boost::bind(&CompressedPublisher::configCb, this, boost::placeholders::_1, boost::placeholders::_2);
  reconfigure_server_->setCallback(f);
}
 
void CompressedPublisher::configCb(Config& config, uint32_t level)
{
  config_ = config;
}
 
void CompressedPublisher::publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
{
  if (!config_.enable) {
    return;
  }
 
  // Compressed image message
  sensor_msgs::CompressedImage compressed;
  compressed.header = message.header;
  compressed.format = message.encoding;
 
  // Compression settings
  std::vector<int> params;
 
  // Get codec configuration
  compressionFormat encodingFormat = UNDEFINED;
  if (config_.format == compressed_image_transport::CompressedPublisher_jpeg)
    encodingFormat = JPEG;
  if (config_.format == compressed_image_transport::CompressedPublisher_png)
    encodingFormat = PNG;
 
  // Bit depth of image encoding
  int bitDepth = enc::bitDepth(message.encoding);
  int numChannels = enc::numChannels(message.encoding);
 
  switch (encodingFormat)
  {
    // JPEG Compression
    case JPEG:
    {
      params.reserve(8);
      params.emplace_back(IMWRITE_JPEG_QUALITY);
      params.emplace_back(config_.jpeg_quality);
      params.emplace_back(IMWRITE_JPEG_PROGRESSIVE);
      params.emplace_back(config_.jpeg_progressive ? 1 : 0);
      params.emplace_back(IMWRITE_JPEG_OPTIMIZE);
      params.emplace_back(config_.jpeg_optimize ? 1 : 0);
      params.emplace_back(IMWRITE_JPEG_RST_INTERVAL);
      params.emplace_back(config_.jpeg_restart_interval);
 
      // Update ros message format header
      compressed.format += "; jpeg compressed ";
 
      // Check input format
      if ((bitDepth == 8) || (bitDepth == 16))
      {
        // Target image format
        std::string targetFormat;
        if (enc::isColor(message.encoding))
        {
          // convert color images to BGR8 format
          targetFormat = "bgr8";
          compressed.format += targetFormat;
        }
 
        // OpenCV-ros bridge
        try
        {
          boost::shared_ptr<CompressedPublisher> tracked_object;
          cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(message, tracked_object, targetFormat);
 
          // Compress image
          if (cv::imencode(".jpg", cv_ptr->image, compressed.data, params))
          {
 
            float cRatio = (float)(cv_ptr->image.rows * cv_ptr->image.cols * cv_ptr->image.elemSize())
                / (float)compressed.data.size();
            ROS_DEBUG("Compressed Image Transport - Codec: jpg, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size());
          }
          else
          {
            ROS_ERROR("cv::imencode (jpeg) failed on input image");
          }
        }
        catch (cv_bridge::Exception& e)
        {
          ROS_ERROR("%s", e.what());
        }
        catch (cv::Exception& e)
        {
          ROS_ERROR("%s", e.what());
        }
 
        // Publish message
        publish_fn(compressed);
      }
      else
        ROS_ERROR("Compressed Image Transport - JPEG compression requires 8/16-bit color format (input format is: %s)", message.encoding.c_str());
 
      break;
    }
      // PNG Compression
    case PNG:
    {
      params.reserve(2);
      params.emplace_back(IMWRITE_PNG_COMPRESSION);
      params.emplace_back(config_.png_level);
 
      // Update ros message format header
      compressed.format += "; png compressed ";
 
      // Check input format
      if ((bitDepth == 8) || (bitDepth == 16))
      {
 
        // Target image format
        stringstream targetFormat;
        if (enc::isColor(message.encoding))
        {
          // convert color images to RGB domain
          targetFormat << "bgr" << bitDepth;
          compressed.format += targetFormat.str();
        }
 
        // OpenCV-ros bridge
        try
        {
          boost::shared_ptr<CompressedPublisher> tracked_object;
          cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(message, tracked_object, targetFormat.str());
 
          // Compress image
          if (cv::imencode(".png", cv_ptr->image, compressed.data, params))
          {
 
            float cRatio = (float)(cv_ptr->image.rows * cv_ptr->image.cols * cv_ptr->image.elemSize())
                / (float)compressed.data.size();
            ROS_DEBUG("Compressed Image Transport - Codec: png, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size());
          }
          else
          {
            ROS_ERROR("cv::imencode (png) failed on input image");
          }
        }
        catch (cv_bridge::Exception& e)
        {
          ROS_ERROR("%s", e.what());
          return;
        }
        catch (cv::Exception& e)
        {
          ROS_ERROR("%s", e.what());
          return;
        }
 
        // Publish message
        publish_fn(compressed);
      }
      else
        ROS_ERROR("Compressed Image Transport - PNG compression requires 8/16-bit encoded color format (input format is: %s)", message.encoding.c_str());
      break;
    }
 
    default:
      ROS_ERROR("Unknown compression type '%s', valid options are 'jpeg' and 'png'", config_.format.c_str());
      break;
  }
 
}
 
} //namespace compressed_image_transport