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publish compressed tile image #2857

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publish compressed tile image #2857

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15 changes: 15 additions & 0 deletions jsk_perception/node_scripts/tile_image.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,9 @@
import jsk_recognition_utils
from jsk_topic_tools import ConnectionBasedTransport
import message_filters
import numpy as np
import rospy
from sensor_msgs.msg import CompressedImage
from sensor_msgs.msg import Image
import itertools, pkg_resources
from distutils.version import StrictVersion
Expand Down Expand Up @@ -66,6 +68,7 @@ def __init__(self):
rospy.logerr('hydro message_filters does not support approximate sync. Force to set ~approximate_sync=false')
self.approximate_sync = False
self.pub_img = self.advertise('~output', Image, queue_size=1)
self.pub_compressed_img = self.advertise('~output/compressed', CompressedImage, queue_size=1)

def subscribe(self):
self.sub_img_list = []
Expand All @@ -87,14 +90,17 @@ def subscribe(self):
sync = message_filters.TimeSynchronizer(
self.sub_img_list, queue_size=queue_size)
sync.registerCallback(self._apply)

def unsubscribe(self):
for sub in self.sub_img_list:
sub.sub.unregister()

def timer_callback(self, event):
with self.lock:
imgs = [self.input_imgs[topic] for topic in self.input_topics
if topic in self.input_imgs]
self._append_images(imgs)

def simple_callback(self, target_topic):
def callback(msg):
with self.lock:
Expand All @@ -105,6 +111,7 @@ def callback(msg):
draw_text_box(img, rospy.resolve_name(target_topic),
font_scale=self.font_scale)
return callback

def _append_images(self, imgs):
if not imgs:
return
Expand All @@ -126,6 +133,14 @@ def _append_images(self, imgs):
bridge = cv_bridge.CvBridge()
imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
self.pub_img.publish(imgmsg)

compressed_msg = CompressedImage()
compressed_msg.header = imgmsg.header
compressed_msg.format = imgmsg.encoding + '; jpeg compressed bgr8'
compressed_msg.data = np.array(
cv2.imencode('.jpg', out_bgr)[1]).tostring()
self.pub_compressed_img.publish(compressed_msg)

def _apply(self, *msgs):
bridge = cv_bridge.CvBridge()
imgs = []
Expand Down
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