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.

Each small image block state is assessed as below figure.

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

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) References/External links

(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