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Convert depth and thermal image data to RGB before sending over websockets #112

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merged 2 commits into from
May 6, 2021
Merged

Convert depth and thermal image data to RGB before sending over websockets #112

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260a22e
convert to rgb image before sending data over websockets
iche033 Apr 23, 2021
7b6fc39
Require common 3.13
chapulina May 5, 2021
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,8 @@ ign_find_package(TINYXML2 REQUIRED PRIVATE PRETTY tinyxml2)

#--------------------------------------
# Find ignition-common
ign_find_package(ignition-common3 REQUIRED PRIVATE COMPONENTS graphics)
ign_find_package(ignition-common3 REQUIRED VERSION 3.13
PRIVATE COMPONENTS graphics)
set(IGN_COMMON_MAJOR_VER ${ignition-common3_VERSION_MAJOR})

#--------------------------------------
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32 changes: 27 additions & 5 deletions plugins/websocket_server/WebsocketServer.cc
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Expand Up @@ -965,12 +965,34 @@ void WebsocketServer::OnWebsocketSubscribedImageMessage(
// Store the last time this topic was published.
this->topicTimestamps[_info.Topic()] = systemTime;

// send raw png data
std::vector<unsigned char> buffer;
// convert to RGB image if needed
common::Image image;
image.SetFromData(
(unsigned char*) _msg.data().c_str(),
_msg.width(), _msg.height(), common::Image::RGB_INT8);
switch (_msg.pixel_format_type())
{
case msgs::PixelFormatType::RGB_INT8:
image.SetFromData(reinterpret_cast<const unsigned char *>(
_msg.data().c_str()),
_msg.width(), _msg.height(), common::Image::RGB_INT8);
break;
case msgs::PixelFormatType::R_FLOAT32:
common::Image::ConvertToRGBImage<float>(_msg.data().c_str(),
_msg.width(), _msg.height(), image,
0, std::numeric_limits<float>::lowest(), true);
break;
case msgs::PixelFormatType::L_INT16:
common::Image::ConvertToRGBImage<uint16_t>(_msg.data().c_str(),
_msg.width(), _msg.height(), image);
break;
case msgs::PixelFormatType::L_INT8:
common::Image::ConvertToRGBImage<uint8_t>(_msg.data().c_str(),
_msg.width(), _msg.height(), image);
break;
default:
return;
}

// alway publish rgb_int8 format
std::vector<unsigned char> buffer;
image.SavePNGToBuffer(buffer);
std::string img(reinterpret_cast<char *>(buffer.data()), buffer.size());

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