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[ADD] flag for jpeg compression of bayer format #98

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[ADD] flag for jpeg compression of bayer format #98

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d297944
[ADD] jpeg compression of bayer pattern
wodtko Nov 14, 2023
a722108
Merge branch 'rolling' into feat_allow_bayer_jpeg_compression
wodtko Aug 5, 2024
01e38b7
[FIX] cpplint and uncrustify issues
wodtko Aug 5, 2024
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18 changes: 17 additions & 1 deletion compressed_image_transport/src/compressed_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ enum compressedParameters
FORMAT = 0,
PNG_LEVEL,
JPEG_QUALITY,
JPEG_COMPRESS_BAYER,
TIFF_RESOLUTION_UNIT,
TIFF_XDPI,
TIFF_YDPI
Expand Down Expand Up @@ -102,6 +103,14 @@ const struct ParameterDefinition kParameters[] =
.set__to_value(100)
.set__step(1)})
},
{ //JPEG_COMPRESS_BAYER - allow compression of bayer encoded images.
ParameterValue((bool)false),
ParameterDescriptor()
.set__name("jpeg_compress_bayer")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL)
.set__description("Allow JPEG compression for bayer format")
.set__read_only(false)
},
{ //TIFF_RESOLUTION_UNIT - TIFF resolution unit, can be one of "none", "inch", "centimeter".
ParameterValue("inch"),
ParameterDescriptor()
Expand Down Expand Up @@ -162,6 +171,7 @@ void CompressedPublisher::publish(
std::string cfg_format = node_->get_parameter(parameters_[FORMAT]).get_value<std::string>();
int cfg_png_level = node_->get_parameter(parameters_[PNG_LEVEL]).get_value<int64_t>();
int cfg_jpeg_quality = node_->get_parameter(parameters_[JPEG_QUALITY]).get_value<int64_t>();;
bool cfg_jpeg_compress_bayer = node_->get_parameter(parameters_[JPEG_COMPRESS_BAYER]).get_value<bool>();;
std::string cfg_tiff_res_unit = node_->get_parameter(parameters_[TIFF_RESOLUTION_UNIT]).get_value<std::string>();
int cfg_tiff_xdpi = node_->get_parameter(parameters_[TIFF_XDPI]).get_value<int64_t>();
int cfg_tiff_ydpi = node_->get_parameter(parameters_[TIFF_YDPI]).get_value<int64_t>();
Expand Down Expand Up @@ -209,7 +219,13 @@ void CompressedPublisher::publish(
// convert color images to BGR8 format
targetFormat = "bgr8";
compressed.format += targetFormat;
} else {
}
else if (enc::isBayer(message.encoding) and cfg_jpeg_compress_bayer)
{
targetFormat = message.encoding;
compressed.format += targetFormat;
}
else {
// convert gray images to mono8 format
targetFormat = "mono8";
compressed.format += targetFormat;
Expand Down