add test for compressed image display

Author: mjforan

rviz_default_plugins/CMakeLists.txt

@@ -883,13 +883,17 @@ if(BUILD_TESTING)
     ${SKIP_VISUAL_TESTS}
     TIMEOUT 180)
   if(TARGET image_display_visual_test)
+    find_package(OpenCV REQUIRED)
+    find_package(image_transport_plugins REQUIRED)
+    include_directories(${OpenCV_INCLUDE_DIRS})
     target_include_directories(image_display_visual_test PRIVATE test)
     target_link_libraries(image_display_visual_test
       Qt5::Test
       rviz_visual_testing_framework::rviz_visual_testing_framework
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
       ${std_msgs_TARGETS}
+      ${OpenCV_LIBRARIES}
     )
   endif()
 

rviz_default_plugins/package.xml

@@ -64,6 +64,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>rviz_rendering_tests</test_depend>
   <test_depend>rviz_visual_testing_framework</test_depend>
+  <test_depend>image_transport_plugins</test_depend>
+  <test_depend>vision_opencv</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp

@@ -36,9 +36,11 @@
 
 #include "../../page_objects/image_display_page_object.hpp"
 #include "../../publishers/image_publisher.hpp"
+#include "../../publishers/compressed_image_publisher.hpp"
+
 
 TEST_F(VisualTestFixture, test_image_display_with_published_image) {
-  auto path_publisher = std::make_unique<VisualTestPublisher>(
+  auto image_publisher = std::make_unique<VisualTestPublisher>(
     std::make_shared<nodes::ImagePublisher>(), "image_frame");
 
   setCamPose(Ogre::Vector3(0, 0, 16));
@@ -51,3 +53,18 @@ TEST_F(VisualTestFixture, test_image_display_with_published_image) {
 
   assertScreenShotsIdentity();
 }
+
+TEST_F(VisualTestFixture, test_compressed_image_display_with_published_image) {
+  auto compressed_image_publisher = std::make_unique<VisualTestPublisher>(
+    std::make_shared<nodes::CompressedImagePublisher>(), "image_frame");
+
+  setCamPose(Ogre::Vector3(0, 0, 16));
+  setCamLookAt(Ogre::Vector3(0, 0, 0));
+
+  auto image_display = addDisplay<ImageDisplayPageObject>();
+  image_display->setTopic("/image");
+
+  captureRenderWindow(image_display);
+
+  assertScreenShotsIdentity();
+}

rviz_default_plugins/test/rviz_default_plugins/publishers/compressed_image_publisher.hpp

@@ -0,0 +1,84 @@
+// Copyright (c) 2018, Bosch Software Innovations GmbH.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_
+
+#include <cmath>
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <opencv2/opencv.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/clock.hpp"
+#include "sensor_msgs/msg/compressed_image.hpp"
+#include "std_msgs/msg/header.hpp"
+
+using namespace std::chrono_literals;  // NOLINT
+
+namespace nodes
+{
+
+class CompressedImagePublisher : public rclcpp::Node
+{
+public:
+  explicit CompressedImagePublisher(const std::string & topic_name = "image")
+  : Node("compressed_image_publisher")
+  {
+    publisher = this->create_publisher<sensor_msgs::msg::CompressedImage>(topic_name, 10);
+    timer = this->create_wall_timer(100ms,
+        std::bind(&CompressedImagePublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = sensor_msgs::msg::CompressedImage();
+    message.header = std_msgs::msg::Header();
+    message.header.frame_id = "image_frame";
+    message.header.stamp = rclcpp::Clock().now();
+
+    cv::Mat image(200, 300, CV_8UC3, cv::Scalar(0, 255, 0));
+    std::vector<uchar> compressed_image;
+    cv::imencode(".jpg", image, compressed_image);
+
+    message.data.assign(compressed_image.begin(), compressed_image.end());
+    message.format = "jpeg";
+    publisher->publish(message);
+  }
+
+  rclcpp::TimerBase::SharedPtr timer;
+  rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr publisher;
+};
+
+}  // namespace nodes
+
+#endif  // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_