Skip to content

Add functionality for depth images (16UC1 and 32FC1) #14

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mvieth wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Add functionality for depth images (16UC1 and 32FC1) #14

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7ff61bf
Add functionality for depth images (16UC1 and 32FC1)
mvieth Sep 23, 2019
1be479e
Make style changes and other requested changes
mvieth Sep 24, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 0 additions & 4 deletions opportunistic_link/include/opportunistic_link/image_compression.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,6 @@ namespace image_compression
{
class ImageHandler
{
protected:

;

public:

ImageHandler() {}
Expand Down
34 changes: 30 additions & 4 deletions opportunistic_link/src/opportunistic_link/image_compression.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,15 @@ void ImageHandler::reset_decoder()
sensor_msgs::Image ImageHandler::decompress_image(const sensor_msgs::CompressedImage& compressed, const std::string& encoding)
{
sensor_msgs::Image decompressed;
cv::Mat decoded = cv::imdecode(compressed.data, CV_LOAD_IMAGE_ANYCOLOR);
cv::Mat decoded = cv::imdecode(compressed.data, CV_LOAD_IMAGE_UNCHANGED);
if(decoded.data == NULL)
{
throw std::runtime_error("OpenCV image decoding failed");
}
else
{
ROS_DEBUG_STREAM("Decoding successful, rows=" << decoded.rows << ", cols=" << decoded.cols << ", opencv type=" << decoded.type());
}
cv_bridge::CvImage converted;
converted = cv_bridge::CvImage(compressed.header, encoding, decoded);
converted.toImageMsg(decompressed);
Expand All @@ -37,9 +45,27 @@ sensor_msgs::CompressedImage ImageHandler::compress_image(const sensor_msgs::Ima
cv_ptr = cv_bridge::toCvCopy(image);
cv::Mat cv_image = cv_ptr->image;
std::vector<int> encoding_params;
encoding_params.push_back(CV_IMWRITE_JPEG_QUALITY);
encoding_params.push_back(quality);
bool ret = cv::imencode(".jpg", cv_image, compressed.data, encoding_params);
bool ret = false;
ROS_DEBUG_STREAM("Image encoding: " << image.encoding);
if(image.encoding == "16UC1") {
ROS_DEBUG("Encoding in png format");
ret = cv::imencode(".png", cv_image, compressed.data, encoding_params);
compressed.format = "png";
}
else if(image.encoding == "32FC1")
{
ROS_DEBUG("Encoding in tiff format");
ret = cv::imencode(".tiff", cv_image, compressed.data, encoding_params);
compressed.format = "tiff";
}
else
{
ROS_DEBUG("Encoding in jpeg format");
encoding_params.push_back(CV_IMWRITE_JPEG_QUALITY);
encoding_params.push_back(quality);
ret = cv::imencode(".jpg", cv_image, compressed.data, encoding_params);
compressed.format = "jpeg";
}
if (ret)
{
ROS_DEBUG("OpenCV encoding success");
Expand Down