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Port image processor library to ROS 2 (#484)
* Add back processor.cpp The implementation was removed (accidentally?) in #426. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Port processor.cpp for ROS 2 * Added library back to CMakeLists.txt * Renamed image_proc executable to it's former name * Made changes for library to compile * Added new dependency to rcutils for logging * Linted to satisfy tests Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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| // Copyright 2008 Willow Garage, Inc. | ||
| // All rights reserved. | ||
| // | ||
| // Software License Agreement (BSD License 2.0) | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions | ||
| // are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // * 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. | ||
| // * Neither the name of {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 OWNER 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. | ||
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| #include "image_proc/processor.hpp" | ||
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| #include <rcutils/logging_macros.h> | ||
| #include <sensor_msgs/image_encodings.hpp> | ||
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| #include <string> | ||
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| namespace image_proc | ||
| { | ||
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| namespace enc = sensor_msgs::image_encodings; | ||
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| bool Processor::process( | ||
| const sensor_msgs::msg::Image::ConstSharedPtr & raw_image, | ||
| const image_geometry::PinholeCameraModel & model, | ||
| ImageSet & output, int flags) const | ||
| { | ||
| static const int MONO_EITHER = MONO | RECT; | ||
| static const int COLOR_EITHER = COLOR | RECT_COLOR; | ||
| if (!(flags & ALL)) { | ||
| return true; | ||
| } | ||
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| // Check if raw_image is color | ||
| const std::string & raw_encoding = raw_image->encoding; | ||
| int raw_type = CV_8UC1; | ||
| if (raw_encoding == enc::BGR8 || raw_encoding == enc::RGB8) { | ||
| raw_type = CV_8UC3; | ||
| output.color_encoding = raw_encoding; | ||
| } | ||
| // Construct cv::Mat pointing to raw_image data | ||
| const cv::Mat raw( | ||
| raw_image->height, raw_image->width, raw_type, | ||
| const_cast<uint8_t *>(&raw_image->data[0]), raw_image->step); | ||
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| /////////////////////////////////////////////////////// | ||
| // Construct colorized (unrectified) images from raw // | ||
| /////////////////////////////////////////////////////// | ||
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| // Bayer case | ||
| if (raw_encoding.find("bayer") != std::string::npos) { | ||
| // Convert to color BGR | ||
| // TODO(unknown): Faster to convert directly to mono when color is not requested, | ||
| // but OpenCV doesn't support | ||
| int code = 0; | ||
| if (raw_encoding == enc::BAYER_RGGB8) { | ||
| code = cv::COLOR_BayerBG2BGR; | ||
| } else if (raw_encoding == enc::BAYER_BGGR8) { | ||
| code = cv::COLOR_BayerRG2BGR; | ||
| } else if (raw_encoding == enc::BAYER_GBRG8) { | ||
| code = cv::COLOR_BayerGR2BGR; | ||
| } else if (raw_encoding == enc::BAYER_GRBG8) { | ||
| code = cv::COLOR_BayerGB2BGR; | ||
| } else { | ||
| RCUTILS_LOG_ERROR("[image_proc] Unsupported encoding '%s'", raw_encoding.c_str()); | ||
| return false; | ||
| } | ||
| cv::cvtColor(raw, output.color, code); | ||
| output.color_encoding = enc::BGR8; | ||
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| if (flags & MONO_EITHER) { | ||
| cv::cvtColor(output.color, output.mono, cv::COLOR_BGR2GRAY); | ||
| } | ||
| } else if (raw_type == CV_8UC3) { // Color case | ||
| output.color = raw; | ||
| if (flags & MONO_EITHER) { | ||
| int code = (raw_encoding == enc::BGR8) ? cv::COLOR_BGR2GRAY : cv::COLOR_RGB2GRAY; | ||
| cv::cvtColor(output.color, output.mono, code); | ||
| } | ||
| } else if (raw_encoding == enc::MONO8) { // Mono case | ||
| output.mono = raw; | ||
| if (flags & COLOR_EITHER) { | ||
| output.color_encoding = enc::MONO8; | ||
| output.color = raw; | ||
| } | ||
| } else if (raw_encoding == enc::TYPE_8UC3) { | ||
| // 8UC3 does not specify a color encoding. Is it BGR, RGB, HSV, XYZ, LUV...? | ||
| RCUTILS_LOG_ERROR( | ||
| "[image_proc] Ambiguous encoding '8UC3'. " | ||
| "The camera driver should set the encoding to 'bgr8' or 'rgb8'."); | ||
| return false; | ||
| } else { | ||
| // Something else we can't handle | ||
| RCUTILS_LOG_ERROR("[image_proc] Unsupported encoding '%s'", raw_encoding.c_str()); | ||
| return false; | ||
| } | ||
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| ////////////////////////////////////////////////////// | ||
| // Construct rectified images from colorized images // | ||
| ////////////////////////////////////////////////////// | ||
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| // TODO(unknown): If no distortion, could just point to the colorized data. | ||
| // But copy is already way faster than remap. | ||
| if (flags & RECT) { | ||
| model.rectifyImage(output.mono, output.rect, interpolation_); | ||
| } | ||
| if (flags & RECT_COLOR) { | ||
| model.rectifyImage(output.color, output.rect_color, interpolation_); | ||
| } | ||
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| return true; | ||
| } | ||
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| } // namespace image_proc |