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Always use image transport even when intra-process comms is enabled #749

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Always use image transport even when intra-process comms is enabled #749

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3 changes: 0 additions & 3 deletions depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/img_pub.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,8 +89,6 @@ class ImagePublisher {
std::shared_ptr<dai::node::VideoEncoder> createEncoder(std::shared_ptr<dai::Pipeline> pipeline, const utils::VideoEncoderConfig& encoderConfig);

private:
bool detectSubscription(const rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr& pub,
const rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr& infoPub);
std::shared_ptr<rclcpp::Node> node;
utils::VideoEncoderConfig encConfig;
utils::ImgPublisherConfig pubConfig;
Expand All @@ -100,7 +98,6 @@ class ImagePublisher {
std::shared_ptr<dai::node::XLinkOut> xout;
std::shared_ptr<dai::node::VideoEncoder> encoder;
std::function<void(dai::Node::Input in)> linkCB;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr imgPub;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr infoPub;
rclcpp::Publisher<ffmpeg_image_transport_msgs::msg::FFMPEGPacket>::SharedPtr ffmpegPub;
rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr compressedImgPub;
Expand Down
17 changes: 2 additions & 15 deletions depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,10 +70,6 @@ void ImagePublisher::setup(std::shared_ptr<dai::Device> device, const utils::Img
}
infoPub =
node->create_publisher<sensor_msgs::msg::CameraInfo>(pubConfig.topicName + pubConfig.infoSuffix + "/camera_info", rclcpp::QoS(10), pubOptions);
} else if(ipcEnabled) {
imgPub = node->create_publisher<sensor_msgs::msg::Image>(pubConfig.topicName + pubConfig.topicSuffix, rclcpp::QoS(10), pubOptions);
infoPub =
node->create_publisher<sensor_msgs::msg::CameraInfo>(pubConfig.topicName + pubConfig.infoSuffix + "/camera_info", rclcpp::QoS(10), pubOptions);
} else {
imgPubIT = image_transport::create_camera_publisher(node.get(), pubConfig.topicName + pubConfig.topicSuffix);
}
Expand Down Expand Up @@ -201,11 +197,8 @@ void ImagePublisher::publish(std::shared_ptr<Image> img) {
}
infoPub->publish(std::move(img->info));
} else {
if(ipcEnabled && (!pubConfig.lazyPub || detectSubscription(imgPub, infoPub))) {
imgPub->publish(std::move(img->image));
infoPub->publish(std::move(img->info));
} else {
if(!pubConfig.lazyPub || imgPubIT.getNumSubscribers() > 0) imgPubIT.publish(*img->image, *img->info);
if(!pubConfig.lazyPub || imgPubIT.getNumSubscribers() > 0) {
imgPubIT.publish(*img->image, *img->info);
}
}
}
Expand All @@ -229,12 +222,6 @@ void ImagePublisher::publish(const std::shared_ptr<dai::ADatatype>& data) {
publish(img);
}
}

bool ImagePublisher::detectSubscription(const rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr& pub,
const rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr& infoPub) {
return (pub->get_subscription_count() > 0 || pub->get_intra_process_subscription_count() > 0 || infoPub->get_subscription_count() > 0
|| infoPub->get_intra_process_subscription_count() > 0);
}
} // namespace sensor_helpers
} // namespace dai_nodes
} // namespace depthai_ros_driver
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