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image_publisher: Fix image, constantly flipping when static image is published (backport #986) #988

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merged 2 commits into from
May 27, 2024
Merged

image_publisher: Fix image, constantly flipping when static image is published (backport #986) #988

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98dcc61
[rolling] image_publisher: Fix image, constantly flipping when static…
Kotochleb May 27, 2024
f39c155
Merge branch 'humble' into mergify/bp/humble/pr-986
ahcorde May 27, 2024
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1 change: 1 addition & 0 deletions image_publisher/include/image_publisher/image_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ class ImagePublisher : public rclcpp::Node
std::string filename_;
bool flip_horizontal_;
bool flip_vertical_;
bool image_flipped_;
bool retry_; // If enabled will retry loading image from the filename_
int timeout_; // Time after which retrying starts

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5 changes: 4 additions & 1 deletion image_publisher/src/image_publisher.cpp
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Expand Up @@ -137,9 +137,11 @@ void ImagePublisher::doWork()
if (!cap_.read(image_)) {
cap_.set(cv::CAP_PROP_POS_FRAMES, 0);
}
image_flipped_ = false;
}
if (flip_image_) {
if (flip_image_ && !image_flipped_) {
cv::flip(image_, image_, flip_value_);
image_flipped_ = true;
}

sensor_msgs::msg::Image::SharedPtr out_img =
Expand Down Expand Up @@ -206,6 +208,7 @@ void ImagePublisher::onInit()
} else {
flip_image_ = false;
}
image_flipped_ = false; // Image newly read, needs to be flipped

camera_info_.width = image_.cols;
camera_info_.height = image_.rows;
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