image_processing
Role: Lightweight image transforms. Brightness/sharpening, depth
visualisation, header restamping. Small utility nodes wired in front of
perception when the raw camera stream needs adjusting.
Nodes
| Node |
Behaviour |
image_brighten_node |
Scales brightness, then applies a fixed [[0,-2,0],[-2,9,-2],[0,-2,0]] sharpening kernel. |
depth_to_rgb_node |
Colourmap visualisation of a 32FC1 depth map. |
restamp_camera_node |
Rewrites Image / CameraInfo header timestamps (useful for sim-time replay). |
ROS interfaces. image_brighten_node
| Direction |
Topic |
Type |
| Sub |
input_image_topic (default image) |
sensor_msgs/Image |
| Pub |
output_image_topic (default brighten/image) |
sensor_msgs/Image |
Parameters: brightness_factor (default 1.2).
Utilities
| Module |
Purpose |
image_processing/utils/image_annotations.py |
get_image_annotations() builds foxglove_msgs/ImageAnnotations from polygons / points. |
image_processing/utils/ros_np_multiarray.py |
Bidirectional conversion between std_msgs/MultiArrayLayout and numpy. |
Gotchas
- Output is BGR8 regardless of input encoding.
- The sharpening kernel is hardcoded; no parameter exposes it.
- Headers are passed through unchanged in
image_brighten_node.
Restamping needs restamp_camera_node.