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Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display (backport #1568) #1572

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Merged
merged 2 commits into from
Sep 1, 2025
Merged

Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display (backport #1568) #1572

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196d01d
add support for ffmpeg_image_transport and point_cloud_transport (#1568)
lreiher Aug 29, 2025
e78bf83
Fixed merge
ahcorde Aug 29, 2025
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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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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 @@ -163,7 +164,6 @@ void CameraDisplay::onInitialize()
this->addChild(visibility_property_, 0);
}


void CameraDisplay::setupSceneNodes()
{
background_scene_node_ = scene_node_->createChildSceneNode();
Expand Down Expand Up @@ -323,7 +323,7 @@ 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 @@ -386,7 +386,7 @@ 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 @@ -432,7 +432,7 @@ 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)
Expand Down