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[jazzy] image_publisher: add field of view parameter (backport #985) #992

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Jun 10, 2024
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[jazzy] image_publisher: add field of view parameter (backport #985) #992

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1 change: 1 addition & 0 deletions image_publisher/doc/components.rst
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Expand Up @@ -14,6 +14,7 @@ Published Topics
Parameters
^^^^^^^^^^
* **filename** (string, default: ""): Name of image file to be published.
* **field_of_view** (double, default: 0): Camera field of view (deg) used to calculate focal length for camera info topic.
* **flip_horizontal** (bool, default: false): Flip output image horizontally.
* **flip_vertical** (bool, default: false): Flip output image vertically.
* **frame_id** (string, default: "camera") Frame id inserted in published
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1 change: 1 addition & 0 deletions image_publisher/include/image_publisher/image_publisher.hpp
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Expand Up @@ -65,6 +65,7 @@ class ImagePublisher : public rclcpp::Node
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;

std::string filename_;
double field_of_view_;
bool flip_horizontal_;
bool flip_vertical_;
bool retry_; // If enabled will retry loading image from the filename_
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18 changes: 16 additions & 2 deletions image_publisher/src/image_publisher.cpp
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Expand Up @@ -31,7 +31,9 @@
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include <cmath>
#include <chrono>
#include <limits>
#include <string>
#include <thread>
#include <vector>
Expand Down Expand Up @@ -60,6 +62,7 @@ ImagePublisher::ImagePublisher(
std::string topic_name = node_base->resolve_topic_or_service_name("image_raw", false);
pub_ = image_transport::create_camera_publisher(this, topic_name);

field_of_view_ = this->declare_parameter("field_of_view", static_cast<double>(0));
flip_horizontal_ = this->declare_parameter("flip_horizontal", false);
flip_vertical_ = this->declare_parameter("flip_vertical", false);
frame_id_ = this->declare_parameter("frame_id", std::string("camera"));
Expand All @@ -79,6 +82,11 @@ ImagePublisher::ImagePublisher(
RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
ImagePublisher::onInit();
return result;
} else if (parameter.get_name() == "field_of_view") {
field_of_view_ = parameter.as_double();
RCLCPP_INFO(get_logger(), "Reset field_of_view as '%f'", field_of_view_);
ImagePublisher::onInit();
return result;
} else if (parameter.get_name() == "flip_horizontal") {
flip_horizontal_ = parameter.as_bool();
RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
Expand Down Expand Up @@ -218,10 +226,16 @@ void ImagePublisher::onInit()
camera_info_.height = image_.rows;
camera_info_.distortion_model = "plumb_bob";
camera_info_.d = {0, 0, 0, 0, 0};
camera_info_.k = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 1,

double f_approx = 1.0; // FOV equal to 0 disables the approximation
if (std::abs(field_of_view_) > std::numeric_limits<double>::epsilon()) {
// Based on https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/
f_approx = (camera_info_.width / 2) / std::tan((field_of_view_ * M_PI / 180) / 2);
}
camera_info_.k = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, f_approx,
static_cast<float>(camera_info_.height / 2), 0, 0, 1};
camera_info_.r = {1, 0, 0, 0, 1, 0, 0, 0, 1};
camera_info_.p = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 0, 1,
camera_info_.p = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, 0, f_approx,
static_cast<float>(camera_info_.height / 2), 0, 0, 0, 1, 0};

timer_ = this->create_wall_timer(
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