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Image Processing

ROS 2 utilities for preparing, visualizing, and timestamping camera data.

Nodes

Depth image visualization

depth_to_rgb_node expects a 32FC1 depth image. It normalizes the values to 8-bit intensity, applies OpenCV's inferno color map, and publishes a bgr8 image.

ros2 run image_processing depth_to_rgb_node --ros-args \
  -p input_image_topic:=/camera/depth/image_raw \
  -p output_image_topic:=/camera/depth/visualization

Image brightening

image_brighten_node scales the brightness of a bgr8 image and applies a sharpening filter. This is useful for improving downstream thresholding or image matching performance.

Example:

ros2 run image_processing image_brighten_node --ros-args \
  -p input_image_topic:=/camera/image_raw \
  -p output_image_topic:=/camera/image_enhanced \
  -p brightness_factor:=1.4

Camera timestamp restamping

restamp_camera_node synchronizes an image with its camera-info message and replaces both timestamps with the same system-wall-time timestamp. This is useful when simulated camera messages need to be synchronized with processes that use wall time.

ros2 run image_processing restamp_camera_node --ros-args \
  -p in_image:=/camera/image_raw \
  -p in_info:=/camera/camera_info \
  -p out_image:=/camera/image_raw_wall \
  -p out_info:=/camera/camera_info_wall

Note: This node is primarily a ROS 2 Humble workaround. On distributions that support override_timestamps_with_wall_time, prefer that option where appropriate.

Utility modules

  • image_processing.utils.image_annotations creates foxglove_msgs/msg/ImageAnnotations from collections of 2D points.
  • image_processing.utils.ros_np_multiarray converts NumPy arrays to and from standard ROS multi-array message types.