some configs in synced process dataset

.gitignore

@@ -1,4 +1,5 @@
 recorddata/
 # /config/calib.yaml
 /log
-/map
+/map
+*.pyc

launch_ROS2/odin1_reprojection_synced_ros2.launch.py

@@ -19,7 +19,8 @@ def create_nodes(context):
     reprojection_params.setdefault('synced_odometry_topic', '/odin1/sync/odometry')
     reprojection_params.setdefault('synced_wiwc_topic', '/odin1/sync/wiwc')
     reprojection_params.setdefault('synced_image_topic', '/odin1/sync/image')
-    reprojection_params.setdefault('synced_image_compressed', 1)
+    sync_camera_compressed = int(reprojection_params.get('register_keys.sync_camera_compressed', 0))
+    reprojection_params['synced_image_compressed'] = sync_camera_compressed
     reprojection_params.setdefault('register_keys.sync_topic_prefix', '/odin1/sync')
     reprojection_params['calib_file_path'] = os.path.join(package_dir, 'config', 'calib.yaml')
 

src/cloud_reprojection_synced_ros.cpp

@@ -291,6 +291,9 @@ public:
             << "\n  synced_wiwc_topic: " << synced_wiwc_topic_
             << "\n  synced_image_topic: " << synced_image_topic_
             << "\n  synced_image_transport: " << (synced_image_compressed_ ? "compressed" : "raw")
+            << "\n  always_send_sync_compressed: " << (always_send_sync_compressed_ ? "on" : "off")
+            << "\n  sync_image_compressed_topic: "
+            << ((!synced_image_compressed_ && always_send_sync_compressed_) ? sync_image_compressed_topic_ : "<disabled>")
             << "\n  output_prefix: " << sync_topic_prefix_
             << "\n  overlay_compressed_topic: " << sync_overlay_image_topic_
             << "\n  detection_debug_topic: " << sync_detection_debug_image_topic_
@@ -333,9 +336,11 @@ private:
     std::string synced_image_topic_;
     bool synced_image_compressed_ = true;
     std::string sync_topic_prefix_;
+    std::string sync_image_compressed_topic_;
     std::string combined_compressed_topic_;
     int combined_jpeg_quality_ = 85;
     int overlay_jpeg_quality_ = 85;
+    bool always_send_sync_compressed_ = false;
     bool publish_combined_compressed_ = true;
     bool send_overlay_ = true;
 
@@ -353,6 +358,7 @@ private:
     rclcpp::Subscription<Image>::SharedPtr image_sub_;
     rclcpp::Subscription<CompressedImage>::SharedPtr compressed_image_sub_;
 
+    rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_compressed_pub_;
     rclcpp::Publisher<CompressedImage>::SharedPtr overlay_compressed_pub_;
     rclcpp::Publisher<CompressedImage>::SharedPtr detection_debug_compressed_pub_;
     rclcpp::Publisher<Image>::SharedPtr gallery_debug_pub_;
@@ -389,6 +395,8 @@ private:
         this->declare_parameter<std::string>("synced_wiwc_topic", "/odin1/sync/wiwc");
         this->declare_parameter<std::string>("synced_image_topic", "/odin1/sync/image");
         this->declare_parameter<int>("synced_image_compressed", 1);
+        this->declare_parameter<int>("register_keys.sync_camera_compressed", 0);
+        this->declare_parameter<int>("register_keys.always_send_sync_compressed", 0);
         this->declare_parameter<std::string>("register_keys.sync_topic_prefix", "/odin1/sync");
         this->declare_parameter<std::string>("register_keys.combined_compressed_topic", "/odin1/combined_image/compressed");
         this->declare_parameter<int>("register_keys.combined_jpeg_quality", 85);
@@ -436,11 +444,15 @@ private:
         synced_cloud_topic_ = this->get_parameter("synced_cloud_topic").as_string();
         synced_odometry_topic_ = this->get_parameter("synced_odometry_topic").as_string();
         synced_wiwc_topic_ = this->get_parameter("synced_wiwc_topic").as_string();
-        synced_image_compressed_ = (this->get_parameter("synced_image_compressed").as_int() != 0);
+        synced_image_compressed_ =
+            (this->get_parameter("register_keys.sync_camera_compressed").as_int() != 0);
         synced_image_topic_ = resolve_camera_topic(
             this->get_parameter("synced_image_topic").as_string(),
             synced_image_compressed_);
+        always_send_sync_compressed_ =
+            (this->get_parameter("register_keys.always_send_sync_compressed").as_int() != 0);
         sync_topic_prefix_ = this->get_parameter("register_keys.sync_topic_prefix").as_string();
+        sync_image_compressed_topic_ = sync_topic_prefix_ + "/image/compressed";
         combined_compressed_topic_ = this->get_parameter("register_keys.combined_compressed_topic").as_string();
         combined_jpeg_quality_ = std::clamp<int>(
             static_cast<int>(this->get_parameter("register_keys.combined_jpeg_quality").as_int()),
@@ -588,6 +600,10 @@ private:
             overlay_compressed_pub_ =
                 this->create_publisher<CompressedImage>(sync_overlay_image_topic_, 10);
         }
+        if (!synced_image_compressed_ && always_send_sync_compressed_) {
+            sync_image_compressed_pub_ =
+                this->create_publisher<CompressedImage>(sync_image_compressed_topic_, 10);
+        }
         if (publish_combined_compressed_) {
             combined_pub_ =
                 this->create_publisher<CompressedImage>(combined_compressed_topic_, 10);
@@ -748,6 +764,20 @@ private:
             }
         }
 
+        if (!synced_image_compressed_ && always_send_sync_compressed_ && sync_image_compressed_pub_) {
+            std::vector<uchar> buf;
+            const std::vector<int> enc_params = {cv::IMWRITE_JPEG_QUALITY, overlay_jpeg_quality_};
+            if (!cv::imencode(".jpg", cam_bgr, buf, enc_params)) {
+                RCLCPP_ERROR(this->get_logger(), "cv::imencode failed (synced image/compressed)");
+                return;
+            }
+            CompressedImage sync_compressed_msg;
+            sync_compressed_msg.header = sync_image_msg.header;
+            sync_compressed_msg.format = "jpeg";
+            sync_compressed_msg.data.assign(buf.begin(), buf.end());
+            sync_image_compressed_pub_->publish(sync_compressed_msg);
+        }
+
         pcl::PointCloud<pcl::PointXYZRGB> cloud_cam;
         pcl::fromROSMsg(*cloud_msg, cloud_cam);
         if (cloud_cam.empty()) {