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Encoding picker #14

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Encoding picker #14

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c82fddf
added encoding picker
jwendelmuth Aug 30, 2016
c853a92
removed hold on camera info change, cleaned up code
jwendelmuth Aug 30, 2016
3a1840c
setting sensible default value for encoding
jwendelmuth Aug 31, 2016
cc94ecc
fixed description for cleaner pull request
jwendelmuth Aug 31, 2016
f90bedd
added warning message if pixelsize is not 3 or 4
jwendelmuth Aug 31, 2016
e4ab3d6
reset default value
jwendelmuth Aug 31, 2016
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2 changes: 2 additions & 0 deletions include/rviz_camera_stream/camera_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ private Q_SLOTS:
void updateTopic();
virtual void updateQueueSize();
virtual void updateFrameRate();
virtual void updateEncoding();

private:
void subscribe();
Expand All @@ -128,6 +129,7 @@ private Q_SLOTS:
DisplayGroupVisibilityProperty* visibility_property_;
IntProperty* queue_size_property_;
FloatProperty* frame_rate_property_;
EnumProperty* encoding_property_;

sensor_msgs::CameraInfo::ConstPtr current_caminfo_;
boost::mutex caminfo_mutex_;
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40 changes: 30 additions & 10 deletions src/camera_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ class VideoPublisher
}

// bool publishFrame(Ogre::RenderWindow * render_object, const std::string frame_id)
bool publishFrame(Ogre::RenderTexture * render_object, const std::string frame_id)
bool publishFrame(Ogre::RenderTexture * render_object, const std::string frame_id, std::string requested_encoding)
{
if (pub_.getTopic() == "")
{
Expand Down Expand Up @@ -121,14 +121,7 @@ class VideoPublisher
image.height = height;
image.width = width;
image.step = pixelsize * width;
if (pixelsize == 3)
image.encoding = sensor_msgs::image_encodings::RGB8; // would break if pf changes
else if (pixelsize == 4)
image.encoding = sensor_msgs::image_encodings::RGBA8; // would break if pf changes
else
{
ROS_ERROR_STREAM("unknown pixe format " << pixelsize << " " << pf);
}
image.encoding = requested_encoding;
image.is_bigendian = (OGRE_ENDIAN == OGRE_ENDIAN_BIG);
image.data.resize(datasize);
memcpy(&image.data[0], data, datasize);
Expand Down Expand Up @@ -190,6 +183,8 @@ CameraPub::CameraPub()
"trigger single images with the /rviz_camera_trigger service.",
this, SLOT(updateFrameRate()));
frame_rate_property_->setMin(-1);

encoding_property_ = new EnumProperty("Encoding", "", "Sets the encoding.", this, SLOT(updateEncoding()));
}

CameraPub::~CameraPub()
Expand Down Expand Up @@ -300,8 +295,9 @@ void CameraPub::postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt)
frame_id = current_caminfo_->header.frame_id;
}

std::string requested_encoding = encoding_property_->getStdString();
// render_texture_->update();
video_publisher_->publishFrame(render_texture_, frame_id);
video_publisher_->publishFrame(render_texture_, frame_id, requested_encoding);
}

void CameraPub::onEnable()
Expand Down Expand Up @@ -374,6 +370,10 @@ void CameraPub::updateFrameRate()
{
}

void CameraPub::updateEncoding()
{
}

void CameraPub::clear()
{
force_render_ = true;
Expand Down Expand Up @@ -602,6 +602,26 @@ void CameraPub::reset()
{
Display::reset();
clear();
encoding_property_->clearOptions();

Ogre::PixelFormat pf = render_texture_->suggestPixelFormat();
uint pixelsize = Ogre::PixelUtil::getNumElemBytes(pf);
if (pixelsize == 3)
{
encoding_property_->setValue("rgb8");
encoding_property_->addOptionStd("rgb8", 1);
encoding_property_->addOptionStd("bgr8", 2);
}
else if (pixelsize == 4)
{
encoding_property_->setValue("rgba8");
encoding_property_->addOptionStd("rgba8", 3);
encoding_property_->addOptionStd("bgra8", 4);
}
else
{
ROS_WARN("Unsupported pixel size: %d! Could not find image encoding!", pixelsize);
}
}

} // namespace rviz
Expand Down