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Support receiving frames in ROS2 CompressedImage format by OhadMeir · Pull Request #13957 · IntelRealSense/librealsense · GitHub
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Support receiving frames in ROS2 CompressedImage format #13957
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Merged
OhadMeir
merged 3 commits into
IntelRealSense:development
from
OhadMeir:compressed_image
Apr 23, 2025
Merged
Support receiving frames in ROS2 CompressedImage format #13957
OhadMeir
merged 3 commits into
IntelRealSense:development
from
OhadMeir:compressed_image
Apr 23, 2025
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Pull Request Overview
This PR adds support for receiving frames in ROS2 CompressedImage format, addressing both the test harness and the DDS data path.
- Updates unit tests to use the new image_times variable for timestamp validation.
- Adds new type and serialization code for CompressedImage in sensor_msgs, including PubSubTypes and related topic/message classes.
- Adapts DDS streaming and proxy logic to choose between compressed and uncompressed image message handling based on profile encoding.
Reviewed Changes
Copilot reviewed 20 out of 20 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| unit-tests/dds/test-metadata.py | Updated test callback and wait_for_image logic to use image_times rather than the previous image_content. |
| third-party/realdds/src/topics/ros2/sensor_msgs/* | New implementation files for handling CompressedImage type and corresponding PubSubTypes. |
| third-party/realdds/src/dds-stream.* | Modified DDS streaming code to distinguish between compressed and uncompressed image topics and pass image data accordingly. |
| third-party/realdds/* and src/dds/rs-dds-sensor-proxy.* | Adjustments in topic creation and callback signatures to support the CompressedImage format. |
Comments suppressed due to low confidence (3)
unit-tests/dds/test-metadata.py:110
- [nitpick] Consider adding additional test cases that simulate receiving multiple image callbacks to ensure the image_times list is appropriately managed (cleared and accumulated) under various timing scenarios.
if count is None or count <= len(image_times):
third-party/realdds/include/realdds/dds-stream-base.h:35
- [nitpick] Consider adding a brief comment explaining the purpose of the _compressed flag to improve clarity for future maintainers.
bool _compressed = false;
third-party/realdds/src/dds-stream.cpp:120
- Ensure that moving the image data from the frame does not cause unintended side effects elsewhere in the processing pipeline if the frame is referenced later.
_on_data_available( std::move( frame.raw().data() ), frame.timestamp(), std::move( sample ) );
Nir-Az
reviewed
Apr 22, 2025
| // Will throw if an unexpected error occurs. | ||
| // | ||
| //Note - copies the data. | ||
| //TODO - add an API for a function that loans the data and enables the user to free it later. |
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What is this TODO?
Same for all topics?
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Yes, it's the same for all topics. It's a reminder for a future improvement trying to implement zero copy.
Nir-Az
reviewed
Apr 22, 2025
| if( is_streaming() && _on_data_available ) | ||
| _on_data_available( std::move( frame ), std::move( sample ) ); | ||
| topics::compressed_image_msg frame; | ||
| while( _reader && topics::compressed_image_msg::take_next( *_reader, &frame, &sample ) ) |
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Can't we merge this 2 flows into a single one somehow?
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As discussed, I will move the logic to a template function in the h file, handle_data will call it with appropriate type.
Nir-Az
approved these changes
Apr 22, 2025
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@OhadMeir looks great, some questions for you to consider
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Tracked on [RSDEV-3113]