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Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display #1568

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Merged
merged 1 commit into from
Aug 29, 2025
Merged

Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display #1568

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8 changes: 4 additions & 4 deletions rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
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Again test if these changes are necessary and how they interact with the transport selection that Camera display offers when adding a new display.

Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@
#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 @@ -188,7 +189,6 @@ void CameraDisplay::onInitialize()
this->addChild(visibility_property_, 0);
}


void CameraDisplay::setupSceneNodes()
{
background_scene_node_ = scene_node_->createChildSceneNode();
Expand Down Expand Up @@ -349,7 +349,7 @@ 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 @@ -412,7 +412,7 @@ 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 @@ -459,7 +459,7 @@ 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 @@ -40,8 +40,10 @@ 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)
Expand Down
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 @@ -41,7 +41,8 @@ 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