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Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display #2

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Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display #2

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20f0511
add support for ffmpeg_image_transport and point_cloud_transport
May 23, 2025
1fe6362
add compressed message types to image and pointcloud display
jpbusch Aug 27, 2025
59e9b3f
add missing ffmpeg_image_transport_msgs to plugin_descriptions
lreiher Aug 27, 2025
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4 changes: 4 additions & 0 deletions rviz_default_plugins/plugins_description.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,10 @@
<description>
The Image display creates a new rendering window with an image.
</description>
<message_type>ffmpeg_image_transport_msgs/msg/FFMPEGPacket</message_type>
<message_type>sensor_msgs/msg/CompressedImage</message_type>
<message_type>sensor_msgs/msg/Image</message_type>
<message_type>theora_image_transport/msg/Packet</message_type>
</class>

<class
Expand Down Expand Up @@ -174,6 +177,7 @@
The Point Cloud2 display shows data from a (recommended) sensor_msgs/PointCloud2 message.
</description>
<message_type>sensor_msgs/msg/PointCloud2</message_type>
<message_type>point_cloud_interfaces/msg/CompressedPointCloud2</message_type>
</class>

<class
Expand Down
8 changes: 4 additions & 4 deletions rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@
#include "rviz_common/display_context.hpp"
#include "rviz_common/load_resource.hpp"

#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
#include "rviz_default_plugins/displays/image/ros_image_texture.hpp"

namespace rviz_default_plugins
Expand Down Expand Up @@ -185,7 +186,6 @@ void CameraDisplay::onInitialize()
this->addChild(visibility_property_, 0);
}


void CameraDisplay::setupSceneNodes()
{
background_scene_node_ = scene_node_->createChildSceneNode();
Expand Down Expand Up @@ -346,7 +346,7 @@ void CameraDisplay::createCameraInfoSubscription()
// TODO(anyone) Store this in a member variable

std::string camera_info_topic = image_transport::getCameraInfoTopic(
topic_property_->getTopicStd());
getBaseTopicFromTopic(topic_property_->getTopicStd()));

rclcpp::SubscriptionOptions sub_opts;
sub_opts.event_callbacks.message_lost_callback =
Expand Down Expand Up @@ -409,7 +409,7 @@ void CameraDisplay::clear()
current_caminfo_.reset();

std::string camera_info_topic =
image_transport::getCameraInfoTopic(topic_property_->getTopicStd());
image_transport::getCameraInfoTopic(getBaseTopicFromTopic(topic_property_->getTopicStd()));

setStatus(
StatusLevel::Warn, CAM_INFO_STATUS,
Expand Down Expand Up @@ -456,7 +456,7 @@ bool CameraDisplay::updateCamera()

if (!info) {
std::string camera_info_topic = image_transport::getCameraInfoTopic(
topic_property_->getTopicStd());
getBaseTopicFromTopic(topic_property_->getTopicStd()));

setStatus(
StatusLevel::Warn, CAM_INFO_STATUS,
Expand Down
6 changes: 4 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/displays/image/get_transport_from_topic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,10 @@ namespace displays
bool isRawTransport(const std::string & topic)
{
std::string last_subtopic = topic.substr(topic.find_last_of('/') + 1);
return last_subtopic != "compressed" && last_subtopic != "compressedDepth" &&
last_subtopic != "theora";
return last_subtopic != "compressed" &&
last_subtopic != "compressedDepth" &&
last_subtopic != "theora" &&
last_subtopic != "ffmpeg";
}

std::string getTransportFromTopic(const std::string & topic)
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3 changes: 2 additions & 1 deletion ...default_plugins/src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@ bool isPointCloud2RawTransport(const std::string & topic)
{
std::string last_subtopic = topic.substr(topic.find_last_of('/') + 1);
return last_subtopic != "draco" && last_subtopic != "zlib" &&
last_subtopic != "pcl" && last_subtopic != "zstd";
last_subtopic != "pcl" && last_subtopic != "zstd" &&
last_subtopic != "cloudini";
}

std::string getPointCloud2TransportFromTopic(const std::string & topic)
Expand Down