Skip to content

image_diagnostics#

Purpose#

The image_diagnostics is a node that check the status of the input raw image.

Inner-workings / Algorithms#

Below figure shows the flowchart of image diagnostics node. Each image is divided into small blocks for block state assessment.

image diagnostics flowchart

Each small image block state is assessed as below figure.

block status decision tree

After all image's blocks state are evaluated, the whole image status is summarized as below.

whole image state decision tree

Inputs / Outputs#

Input#

Name Type Description
input/raw_image sensor_msgs::msg::Image raw image

Output#

Name Type Description
image_diag/debug/gray_image sensor_msgs::msg::Image gray image
image_diag/debug/dft_image sensor_msgs::msg::Image discrete Fourier transformation image
image_diag/debug/diag_block_image sensor_msgs::msg::Image each block state colorization
image_diag/image_state_diag tier4_debug_msgs::msg::Int32Stamped image diagnostics status value
/diagnostics diagnostic_msgs::msg::DiagnosticArray diagnostics

Parameters#

Assumptions / Known limits#

  • This is proof of concept for image diagnostics and the algorithms still under further improvement.

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#

  • Consider more specific image distortion/occlusion type, for instance raindrop or dust.
  • Consider degraded visibility under fog or rain condition from optical point of view