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Allows user to use CompressedImage #129

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Allows user to use CompressedImage #129

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9da4732
allows compressed type images
Eunsunggcu Mar 11, 2024
8fce496
default transport to raw
Woojin-Crive Mar 11, 2024
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8 changes: 8 additions & 0 deletions aruco_ros/launch/single.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ def launch_setup(context, *args, **kwargs):
'camera_frame': 'stereo_gazebo_' + eye + '_camera_optical_frame',
'marker_frame': LaunchConfiguration('marker_frame'),
'corner_refinement': LaunchConfiguration('corner_refinement'),
'image_transport': LaunchConfiguration('image_transport'),
}

aruco_single = Node(
Expand Down Expand Up @@ -65,6 +66,12 @@ def generate_launch_description():
choices=['NONE', 'HARRIS', 'LINES', 'SUBPIX'],
)

image_transport_arg = DeclareLaunchArgument(
'image_transport', default_value='raw',
description='Image Transport. ',
choices=['raw', 'compressed'],
)

# Create the launch description and populate
ld = LaunchDescription()

Expand All @@ -74,6 +81,7 @@ def generate_launch_description():
ld.add_action(marker_frame_arg)
ld.add_action(reference_frame)
ld.add_action(corner_refinement_arg)
ld.add_action(image_transport_arg)

ld.add_action(OpaqueFunction(function=launch_setup))

Expand Down
6 changes: 4 additions & 2 deletions aruco_ros/src/simple_single.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ class ArucoSimple : public rclcpp::Node
int marker_id;

std::unique_ptr<image_transport::ImageTransport> it_;
image_transport::TransportHints hints;
image_transport::Subscriber image_sub;

std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
Expand All @@ -88,7 +89,7 @@ class ArucoSimple : public rclcpp::Node

public:
ArucoSimple()
: Node("aruco_single"), cam_info_received(false)
: Node("aruco_single"), cam_info_received(false), hints(this)
{
}

Expand Down Expand Up @@ -133,6 +134,7 @@ class ArucoSimple : public rclcpp::Node
this->declare_parameter<bool>("image_is_rectified", true);
this->declare_parameter<float>("min_marker_size", 0.02);
this->declare_parameter<std::string>("detection_mode", "");
this->declare_parameter<std::string>("image_transport", "raw");

float min_marker_size; // percentage of image area
this->get_parameter_or<float>("min_marker_size", min_marker_size, 0.02);
Expand All @@ -152,7 +154,7 @@ class ArucoSimple : public rclcpp::Node
this->get_logger(), "Marker size min: " << min_marker_size << " of image area");
RCLCPP_INFO_STREAM(this->get_logger(), "Detection mode: " << detection_mode);

image_sub = it_->subscribe("/image", 1, &ArucoSimple::image_callback, this);
image_sub = it_->subscribe("/image", 1, &ArucoSimple::image_callback, this, &hints);
cam_info_sub = this->create_subscription<sensor_msgs::msg::CameraInfo>(
"/camera_info", 1, std::bind(
&ArucoSimple::cam_info_callback, this,
Expand Down