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backport a part of #73 #86

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Feb 18, 2022
Merged

backport a part of #73 #86

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2 changes: 1 addition & 1 deletion ...pth_image_transport/include/compressed_depth_image_transport/compressed_depth_publisher.h
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Expand Up @@ -34,7 +34,7 @@

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include "image_transport/simple_publisher_plugin.h"
#include <image_transport/simple_publisher_plugin.hpp>

namespace compressed_depth_image_transport {

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2 changes: 1 addition & 1 deletion ...th_image_transport/include/compressed_depth_image_transport/compressed_depth_subscriber.h
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Expand Up @@ -36,7 +36,7 @@
#include <rclcpp/node.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include "image_transport/simple_subscriber_plugin.h"
#include <image_transport/simple_subscriber_plugin.hpp>

namespace compressed_depth_image_transport {

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89 changes: 43 additions & 46 deletions compressed_image_transport/src/compressed_publisher.cpp
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Expand Up @@ -40,6 +40,7 @@

#include "compressed_image_transport/compression_common.h"

#include <rclcpp/exceptions/exceptions.hpp>
#include <rclcpp/parameter_client.hpp>

#include <sstream>
Expand Down Expand Up @@ -69,59 +70,55 @@ void CompressedPublisher::advertiseImpl(
std::string param_base_name = base_topic.substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
std::string format_param_name = param_base_name + ".format";
if (!node->has_parameter(format_param_name))
{
rcl_interfaces::msg::ParameterDescriptor format_description;
format_description.name = "format";
format_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
format_description.description = "Compression method";
format_description.read_only = false;
format_description.additional_constraints = "Supported values: [jpeg, png]";
rcl_interfaces::msg::ParameterDescriptor format_description;
format_description.name = "format";
format_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
format_description.description = "Compression method";
format_description.read_only = false;
format_description.additional_constraints = "Supported values: [jpeg, png]";
try {
config_.format = node->declare_parameter(format_param_name, kDefaultFormat, format_description);
}
else
{
RCLCPP_WARN(logger_, "%s was previously declared", format_param_name.c_str());
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(logger_, "%s was previously declared", format_param_name.c_str());
config_.format = node->get_parameter(format_param_name).get_value<std::string>();
}

std::string png_level_param_name = param_base_name + ".png_level";
if (!node->has_parameter(png_level_param_name))
{
rcl_interfaces::msg::ParameterDescriptor png_level_description;
png_level_description.name = "png_level";
png_level_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
png_level_description.description = "Compression level for PNG format";
png_level_description.read_only = false;
rcl_interfaces::msg::IntegerRange png_range;
png_range.from_value = 0;
png_range.to_value = 9;
png_range.step = 1;
png_level_description.integer_range.push_back(png_range);
config_.png_level = node->declare_parameter(png_level_param_name, kDefaultPngLevel, png_level_description);
}
else
{
RCLCPP_WARN(logger_, "%s was previously delared", png_level_param_name.c_str());
rcl_interfaces::msg::ParameterDescriptor png_level_description;
png_level_description.name = "png_level";
png_level_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
png_level_description.description = "Compression level for PNG format";
png_level_description.read_only = false;
rcl_interfaces::msg::IntegerRange png_range;
png_range.from_value = 0;
png_range.to_value = 9;
png_range.step = 1;
png_level_description.integer_range.push_back(png_range);
try {
config_.png_level = node->declare_parameter(
png_level_param_name, kDefaultPngLevel, png_level_description);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(logger_, "%s was previously declared", png_level_param_name.c_str());
config_.png_level = node->get_parameter(png_level_param_name).get_value<int64_t>();
}

std::string jpeg_quality_param_name = param_base_name + ".jpeg_quality";
if (!node->has_parameter(jpeg_quality_param_name))
{
rcl_interfaces::msg::ParameterDescriptor jpeg_quality_description;
jpeg_quality_description.name = "jpeg_quality";
jpeg_quality_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
jpeg_quality_description.description = "Image quality for JPEG format";
jpeg_quality_description.read_only = false;
rcl_interfaces::msg::IntegerRange jpeg_range;
jpeg_range.from_value = 1;
jpeg_range.to_value = 100;
jpeg_range.step = 1;
jpeg_quality_description.integer_range.push_back(jpeg_range);
config_.jpeg_quality = node->declare_parameter(jpeg_quality_param_name, kDefaultJpegQuality, jpeg_quality_description);
}
else
{
RCLCPP_WARN(logger_, "%s was previously delared", jpeg_quality_param_name.c_str());
rcl_interfaces::msg::ParameterDescriptor jpeg_quality_description;
jpeg_quality_description.name = "jpeg_quality";
jpeg_quality_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
jpeg_quality_description.description = "Image quality for JPEG format";
jpeg_quality_description.read_only = false;
rcl_interfaces::msg::IntegerRange jpeg_range;
jpeg_range.from_value = 1;
jpeg_range.to_value = 100;
jpeg_range.step = 1;
jpeg_quality_description.integer_range.push_back(jpeg_range);
try {
config_.jpeg_quality = node->declare_parameter(
jpeg_quality_param_name, kDefaultJpegQuality, jpeg_quality_description);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(logger_, "%s was previously declared", jpeg_quality_param_name.c_str());
config_.jpeg_quality = node->get_parameter(jpeg_quality_param_name).get_value<int64_t>();
}
}

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14 changes: 11 additions & 3 deletions compressed_image_transport/src/compressed_subscriber.cpp
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Expand Up @@ -66,14 +66,22 @@ void CompressedSubscriber::subscribeImpl(
logger_ = node->get_logger();
typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
Base::subscribeImpl(node, base_topic, callback, custom_qos);
uint ns_len = node->get_effective_namespace().length();
std::string param_base_name = base_topic.substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
std::string mode_param_name = param_base_name + ".mode";

std::string mode;
rcl_interfaces::msg::ParameterDescriptor mode_description;
mode_description.name = "mode";
mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
mode_description.description = "OpenCV imdecode flags to use";
mode_description.read_only = false;
mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
mode = node->declare_parameter("mode", kDefaultMode, mode_description);
try {
mode = node->declare_parameter(mode_param_name, kDefaultMode, mode_description);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(logger_, "%s was previously declared", mode_param_name.c_str());
mode = node->get_parameter(mode_param_name).get_value<std::string>();
}

if (mode == "unchanged") {
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
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2 changes: 1 addition & 1 deletion theora_image_transport/include/theora_image_transport/theora_publisher.h
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Expand Up @@ -35,7 +35,7 @@
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>

#include <image_transport/simple_publisher_plugin.h>
#include <image_transport/simple_publisher_plugin.hpp>
#include <cv_bridge/cv_bridge.h>
#include <std_msgs/msg/header.hpp>
#include <theora_image_transport/msg/packet.hpp>
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2 changes: 1 addition & 1 deletion theora_image_transport/include/theora_image_transport/theora_subscriber.h
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Expand Up @@ -32,7 +32,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include <image_transport/simple_subscriber_plugin.h>
#include <image_transport/simple_subscriber_plugin.hpp>
#include <theora_image_transport/msg/packet.hpp>

#include <theora/codec.h>
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