image_publisher.cc

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "image_publisher.h"

#include <rc_genicam_api/image.h>
#include <rc_genicam_api/pixel_formats.h>

#include <sensor_msgs/image_encodings.h>

namespace rc
{
ImagePublisher::ImagePublisher(image_transport::ImageTransport& it, const std::string& frame_id_prefix, bool _left,
                               bool _color, bool out1_filter)
  : GenICam2RosPublisher(frame_id_prefix)
{
  left = _left;
  color = _color;
  seq = 0;

  std::string name;

  if (left)
  {
    name = "left/image_rect";
  }
  else
  {
    name = "right/image_rect";
  }

  if (color)
  {
    name = name + "_color";
  }

  pub = it.advertise(name, 1);

  if (out1_filter)
  {
    pub_out1_low = it.advertise(name + "_out1_low", 1);
    pub_out1_high = it.advertise(name + "_out1_high", 1);
  }
}

bool ImagePublisher::used()
{
  return pub.getNumSubscribers() > 0 || pub_out1_low.getNumSubscribers() > 0 || pub_out1_high.getNumSubscribers() > 0;
}

void ImagePublisher::publish(const rcg::Buffer* buffer, uint32_t part, uint64_t pixelformat)
{
  publish(buffer, part, pixelformat, false);
}

void ImagePublisher::publish(const rcg::Buffer* buffer, uint32_t part, uint64_t pixelformat, bool out1)
{
  bool sub = (pub.getNumSubscribers() > 0 && (!out1_only_low || !out1));

  if (!out1 && pub_out1_low.getNumSubscribers() > 0)
    sub = true;
  if (out1 && pub_out1_high.getNumSubscribers() > 0)
    sub = true;

  if (sub && (pixelformat == Mono8 || pixelformat == YCbCr411_8 || pixelformat == RGB8))
  {
    // create image and initialize header

    sensor_msgs::ImagePtr im = boost::make_shared<sensor_msgs::Image>();

    const uint64_t freq = 1000000000ul;
    uint64_t time = buffer->getTimestampNS();

    im->header.seq = seq++;
    im->header.stamp.sec = time / freq;
    im->header.stamp.nsec = time - freq * im->header.stamp.sec;
    im->header.frame_id = frame_id;

    // set image size

    im->width = static_cast<uint32_t>(buffer->getWidth(part));
    im->height = static_cast<uint32_t>(buffer->getHeight(part));
    im->is_bigendian = false;

    bool stacked = false;

    if (im->height > im->width)
    {
      stacked = true;
      im->height >>= 1;
    }

    // get pointer to image data in buffer

    const uint8_t* ps = static_cast<const uint8_t*>(buffer->getBase(part));
    size_t pstep = im->width + buffer->getXPadding(part);

    if (pixelformat == YCbCr411_8)
    {
      pstep = (im->width >> 2) * 6 + buffer->getXPadding(part);
    }
    else if (pixelformat == RGB8)
    {
      pstep = 3*im->width + buffer->getXPadding(part);
    }


    if (!left)
    {
      if (stacked)
      {
        ps += pstep * im->height;
      }
      else
      {
        return;  // buffer does not contain a right image
      }
    }

    // convert image data

    if (color)  // convert to color
    {
      im->encoding = sensor_msgs::image_encodings::RGB8;
      im->step = 3 * im->width * sizeof(uint8_t);

      im->data.resize(im->step * im->height);
      uint8_t* pt = reinterpret_cast<uint8_t*>(&im->data[0]);

      if (pixelformat == Mono8)  // convert from monochrome
      {
        return;  // do not convert from monochrome, skip instead
      }
      else if (pixelformat == YCbCr411_8)  // convert from YUV 411
      {
        for (uint32_t k = 0; k < im->height; k++)
        {
          for (uint32_t i = 0; i < im->width; i += 4)
          {
            rcg::convYCbCr411toQuadRGB(pt, ps, i);
            pt += 12;
          }

          ps += pstep;
        }
      }
      else if (pixelformat == RGB8)
      {
        for (uint32_t k = 0; k < im->height; k++)
        {
          for (uint32_t i = 0; i < im->width; i++)
          {
            *pt++ = *ps++;
            *pt++ = *ps++;
            *pt++ = *ps++;
          }

          ps += buffer->getXPadding(part);
        }
      }
    }
    else  // convert to monochrome
    {
      im->encoding = sensor_msgs::image_encodings::MONO8;
      im->step = im->width * sizeof(uint8_t);

      im->data.resize(im->step * im->height);
      uint8_t* pt = reinterpret_cast<uint8_t*>(&im->data[0]);

      if (pixelformat == Mono8)  // copy monochrome image
      {
        for (uint32_t k = 0; k < im->height; k++)
        {
          for (uint32_t i = 0; i < im->width; i++)
          {
            *pt++ = ps[i];
          }

          ps += pstep;
        }
      }
      else if (pixelformat == YCbCr411_8)  // copy monochrome part of YUV 411 image
      {
        for (uint32_t k = 0; k < im->height; k++)
        {
          int j = 0;

          for (uint32_t i = 0; i < im->width; i += 4)
          {
            *pt++ = ps[j];
            *pt++ = ps[j + 1];
            *pt++ = ps[j + 3];
            *pt++ = ps[j + 4];
            j += 6;
          }

          ps += pstep;
        }
      }
      else if (pixelformat == RGB8)
      {
        for (uint32_t k = 0; k < im->height; k++)
        {
          for (uint32_t i = 0; i < im->width; i++)
          {
            *pt++ = static_cast<uint8_t>((9798*ps[0]+19234*ps[1]+3736*ps[2])>>15);
            ps += 3;
          }

          ps += buffer->getXPadding(part);
        }
      }
    }

    // publish message

    if (!out1_only_low || !out1)
      pub.publish(im);
    if (!out1)
      pub_out1_low.publish(im);
    if (out1)
      pub_out1_high.publish(im);
  }
}
}