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Support for passing parameters to cv::imencode through "toCompressedImageMsg" function. #521

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Support for passing parameters to cv::imencode through "toCompressedImageMsg" function. #521

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34 changes: 31 additions & 3 deletions cv_bridge/include/cv_bridge/cv_bridge.h
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Original file line number Diff line number Diff line change
Expand Up @@ -117,10 +117,24 @@ class CV_BRIDGE_EXPORT CvImage
* can be: jpg, jp2, bmp, png, tif at the moment
* support this format from opencv:
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
* params are the options for cv::imencode.
* Default value is empty list.
*/
sensor_msgs::msg::CompressedImage::SharedPtr toCompressedImageMsg(
const Format dst_format =
JPG) const;
const Format dst_format = JPG,
const std::vector<int> &params=std::vector<int>()) const;
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There need to be spaces around = to follow the style in the rest of the code. I also suggest using the curly braces initialiser ({}) in place of the explicit constructor for easier readability.

Adding a new parameter to a function breaks the ABI, meaning that the new library can not be replaced without recompiling all packages that link it. For backward compatibility, you have to keep a function with the old signature that calls your new function with an empty params.

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Thanks for the detailed feedback. I'll let a function with the original signature. I thought since the parameter is default it will not alter the other packages i did not thought of compiling.


/**
* dst_format is compress the image to desire format.
* Default value is empty string that will convert to jpg format.
* can be: jpg, jp2, bmp, png, tif at the moment
* support this format from opencv:
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
* params are the options for cv::imencode.
* Default value is empty list.
*/
sensor_msgs::msg::CompressedImage::SharedPtr toCompressedImageMsg(
const std::vector<int> &params=std::vector<int>(), const Format dst_format = JPG) const;
Comment on lines +136 to +137
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Why do you need a second function of the same name with swapped parameter order?

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I thought of this like, may be i want only provide parameters for the cv::imencode. Otherwise the dest_format need to be explicitly specified in each call we want provide params to cv::imencode.


/**
* \brief Copy the message data to a ROS sensor_msgs::msg::Image message.
Expand All @@ -136,11 +150,25 @@ class CV_BRIDGE_EXPORT CvImage
* can be: jpg, jp2, bmp, png, tif at the moment
* support this format from opencv:
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
* params are the options for cv::imencode.
* Default value is empty list.
*/
void toCompressedImageMsg(
sensor_msgs::msg::CompressedImage & ros_image,
const Format dst_format = JPG) const;
const Format dst_format = JPG, const std::vector<int> &params=std::vector<int>()) const;
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Use the curly braces initialiser ({}).


/**
* dst_format is compress the image to desire format.
* Default value is empty string that will convert to jpg format.
* can be: jpg, jp2, bmp, png, tif at the moment
* support this format from opencv:
* http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
* params are the options for cv::imencode.
* Default value is empty list.
*/
void toCompressedImageMsg(
sensor_msgs::msg::CompressedImage & ros_image,
const std::vector<int> &params=std::vector<int>(), const Format dst_format = JPG) const;
Comment on lines +169 to +171
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Here too. Why do we need the same function with swapped parameters?

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The same reason like the other function. If this is not neccessary i can remove it (swapping the parameters) and only provide cv::imencode params alongside with dst_format.


typedef std::shared_ptr<CvImage> Ptr;
typedef std::shared_ptr<CvImage const> ConstPtr;
Expand Down
21 changes: 17 additions & 4 deletions cv_bridge/src/cv_bridge.cpp
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Expand Up @@ -464,15 +464,21 @@ CvImagePtr cvtColor(

/////////////////////////////////////// CompressedImage ///////////////////////////////////////////

sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const Format dst_format)
sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const Format dst_format,const std::vector<int> &params)
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Add a space between the end of a parameter and the start of a new one. See the style in other parts of the code.

const
{
sensor_msgs::msg::CompressedImage::SharedPtr ptr =
std::make_shared<sensor_msgs::msg::CompressedImage>();
toCompressedImageMsg(*ptr, dst_format);
toCompressedImageMsg(*ptr, dst_format, params);
return ptr;
}

sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const std::vector<int> &params, const Format dst_format)
const
{
return toCompressedImageMsg(dst_format, params);
}

Comment on lines +476 to +481
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What is this function actually doing? It just swaps the parameters.

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That's only the implementation for providing parameters to cv::imencode without explicitly providing the format.

std::string getFormat(Format format)
{
switch (format) {
Expand Down Expand Up @@ -511,7 +517,14 @@ std::string getFormat(Format format)

void CvImage::toCompressedImageMsg(
sensor_msgs::msg::CompressedImage & ros_image,
const Format dst_format) const
const std::vector<int> &params, const Format dst_format) const
{
toCompressedImageMsg(ros_image, dst_format, params);
}

void CvImage::toCompressedImageMsg(
sensor_msgs::msg::CompressedImage & ros_image,
const Format dst_format, const std::vector<int> &params) const
{
ros_image.header = header;
cv::Mat image;
Expand All @@ -531,7 +544,7 @@ void CvImage::toCompressedImageMsg(

std::string format = getFormat(dst_format);
ros_image.format = format;
cv::imencode("." + format, image, ros_image.data);
cv::imencode("." + format, image, ros_image.data, params);
}

// Deep copy data, returnee is mutable
Expand Down