Fixed parameter names (#28)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
ros-perception · Oct 5, 2023 · 45c42b0 · 45c42b0
1 parent 69744e4
commit 45c42b0
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Showing 6 changed files with 54 additions and 25 deletions.
diff --git a/draco_point_cloud_transport/src/draco_publisher.cpp b/draco_point_cloud_transport/src/draco_publisher.cpp
@@ -229,15 +229,15 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
     expert_attribute_types_paramDescriptor.name, config_.expert_attribute_types,
     expert_attribute_types_paramDescriptor);
 
-  declareParam<std::string>(base_topic + "/attribute_mapping/attribute_type/x", "POSITION");
-  declareParam<std::string>(base_topic + "/attribute_mapping/attribute_type/y", "POSITION");
-  declareParam<std::string>(base_topic + "/attribute_mapping/attribute_type/z", "POSITION");
-  declareParam<int>(base_topic + "/attribute_mapping/quantization_bits/x", 16);
-  declareParam<int>(base_topic + "/attribute_mapping/quantization_bits/y", 16);
-  declareParam<int>(base_topic + "/attribute_mapping/quantization_bits/z", 16);
-  declareParam<int>(base_topic + "/attribute_mapping/quantization_bits/rgb", 16);
-  declareParam<bool>(base_topic + "/attribute_mapping/rgba_tweak/rgb", true);
-  declareParam<bool>(base_topic + "/attribute_mapping/rgba_tweak/rgba", false);
+  declareParam<std::string>("attribute_mapping.attribute_type.x", "POSITION");
+  declareParam<std::string>("attribute_mapping.attribute_type.y", "POSITION");
+  declareParam<std::string>("attribute_mapping.attribute_type.z", "POSITION");
+  declareParam<int>("attribute_mapping.quantization_bits.x", 16);
+  declareParam<int>("attribute_mapping.quantization_bits.y", 16);
+  declareParam<int>("attribute_mapping.quantization_bits.z", 16);
+  declareParam<int>("attribute_mapping.quantization_bits.rgb", 16);
+  declareParam<bool>("attribute_mapping.rgba_tweak.rgb", true);
+  declareParam<bool>("attribute_mapping.rgba_tweak.rgba", false);
 
   auto param_change_callback =
     [this](const std::vector<rclcpp::Parameter> & parameters) -> rcl_interfaces::msg::
@@ -246,68 +246,68 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       auto result = rcl_interfaces::msg::SetParametersResult();
       result.successful = true;
       for (auto parameter : parameters) {
-        if (parameter.get_name() == "expert_quantization") {
+        if (parameter.get_name().find("expert_quantization") != std::string::npos) {
           config_.expert_quantization = parameter.as_bool();
           return result;
-        } else if (parameter.get_name() == "force_quantization") {
+        } else if (parameter.get_name().find("force_quantization") != std::string::npos) {
           config_.force_quantization = parameter.as_bool();
           return result;
-        } else if (parameter.get_name() == "encode_speed") {
+        } else if (parameter.get_name().find("encode_speed") != std::string::npos) {
           config_.encode_speed = static_cast<int>(parameter.as_int());
           if (!(config_.encode_speed >= 0 && config_.encode_speed <= 10)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "encode_speed value range should be between [0, 10] ");
           }
           return result;
-        } else if (parameter.get_name() == "decode_speed") {
+        } else if (parameter.get_name().find("decode_speed") != std::string::npos) {
           config_.decode_speed = static_cast<int>(parameter.as_int());
           if (!(config_.decode_speed >= 0 && config_.decode_speed <= 10)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "decode_speed value range should be between [0, 10] ");
           }
           return result;
-        } else if (parameter.get_name() == "encode_method") {
+        } else if (parameter.get_name().find("encode_method") != std::string::npos) {
           config_.encode_method = static_cast<int>(parameter.as_int());
           return result;
-        } else if (parameter.get_name() == "deduplicate") {
+        } else if (parameter.get_name().find("deduplicate") != std::string::npos) {
           config_.deduplicate = parameter.as_bool();
           return result;
-        } else if (parameter.get_name() == "quantization_POSITION") {
+        } else if (parameter.get_name().find("quantization_POSITION") != std::string::npos) {
           config_.quantization_POSITION = static_cast<int>(parameter.as_int());
           if (!(config_.quantization_POSITION >= 1 && config_.quantization_POSITION <= 31)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "quantization_POSITION value range should be between [1, 31] ");
           }
           return result;
-        } else if (parameter.get_name() == "quantization_NORMAL") {
+        } else if (parameter.get_name().find("quantization_NORMAL") != std::string::npos) {
           config_.quantization_NORMAL = static_cast<int>(parameter.as_int());
           if (!(config_.quantization_NORMAL >= 1 && config_.quantization_NORMAL <= 31)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "quantization_NORMAL value range should be between [1, 31] ");
           }
           return result;
-        } else if (parameter.get_name() == "quantization_COLOR") {
+        } else if (parameter.get_name().find("quantization_COLOR") != std::string::npos) {
           config_.quantization_COLOR = static_cast<int>(parameter.as_int());
           if (!(config_.quantization_COLOR >= 1 && config_.quantization_COLOR <= 31)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "quantization_COLOR value range should be between [1, 31] ");
           }
           return result;
-        } else if (parameter.get_name() == "quantization_TEX_COORD") {
+        } else if (parameter.get_name().find("quantization_TEX_COORD") != std::string::npos) {
           config_.quantization_TEX_COORD = static_cast<int>(parameter.as_int());
           if (!(config_.quantization_TEX_COORD >= 1 && config_.quantization_TEX_COORD <= 31)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "quantization_TEX_COORD value range should be between [1, 31] ");
           }
           return result;
-        } else if (parameter.get_name() == "quantization_GENERIC") {
+        } else if (parameter.get_name().find("quantization_GENERIC") != std::string::npos) {
           config_.quantization_GENERIC = static_cast<int>(parameter.as_int());
           if (!(config_.quantization_GENERIC >= 1 && config_.quantization_GENERIC <= 31)) {
             RCLCPP_ERROR_STREAM(
               getLogger(), "quantization_GENERIC value range should be between [1, 31] ");
           }
           return result;
-        } else if (parameter.get_name() == "expert_attribute_types") {
+        } else if (parameter.get_name().find("expert_attribute_types") != std::string::npos) {
           config_.expert_attribute_types = parameter.as_bool();
           return result;
         }

diff --git a/zlib_point_cloud_transport/src/zlib_publisher.cpp b/zlib_point_cloud_transport/src/zlib_publisher.cpp
@@ -64,7 +64,7 @@ void ZlibPublisher::declareParameters(const std::string & base_topic)
       auto result = rcl_interfaces::msg::SetParametersResult();
       result.successful = true;
       for (auto parameter : parameters) {
-        if (parameter.get_name() == "encode_level") {
+        if (parameter.get_name().find("encode_level") != std::string::npos) {
           this->encode_level_ = static_cast<int>(parameter.as_int());
           if (!(this->encode_level_ >= -1 && this->encode_level_ <= 9)) {
             RCLCPP_ERROR_STREAM(

diff --git a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_publisher.hpp b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_publisher.hpp
@@ -32,6 +32,8 @@
 #ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_
 #define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_
 
+#include <zstd.h>
+
 #include <memory>
 #include <string>
 
@@ -51,6 +53,8 @@ class ZstdPublisher
     point_cloud_interfaces::msg::CompressedPointCloud2>
 {
 public:
+  ZstdPublisher();
+
   std::string getTransportName() const override;
 
   void declareParameters(const std::string & base_topic) override;
@@ -61,6 +65,12 @@ class ZstdPublisher
 
 private:
   int encode_level_{7};
+
+  // When compressing many times,
+  // it is recommended to allocate a context just once,
+  // and re-use it for each successive compression operation.
+  // This will make workload friendlier for system's memory.
+  ZSTD_CCtx * zstd_context_{nullptr};
 };
 }  // namespace zstd_point_cloud_transport
 

diff --git a/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp b/zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp
@@ -32,6 +32,8 @@
 #ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
 #define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
 
+#include <zstd.h>
+
 #include <string>
 
 #include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
@@ -47,6 +49,8 @@ class ZstdSubscriber
     point_cloud_interfaces::msg::CompressedPointCloud2>
 {
 public:
+  ZstdSubscriber();
+
   std::string getTransportName() const override;
 
   void declareParameters() override;
@@ -55,6 +59,9 @@ class ZstdSubscriber
 
   DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
   const override;
+
+private:
+  ZSTD_DCtx * zstd_context_{nullptr};
 };
 }  // namespace zstd_point_cloud_transport
 

diff --git a/zstd_point_cloud_transport/src/zstd_publisher.cpp b/zstd_point_cloud_transport/src/zstd_publisher.cpp
@@ -41,6 +41,11 @@
 namespace zstd_point_cloud_transport
 {
 
+ZstdPublisher::ZstdPublisher()
+{
+  this->zstd_context_ = ZSTD_createCCtx();
+}
+
 void ZstdPublisher::declareParameters(const std::string & base_topic)
 {
   rcl_interfaces::msg::ParameterDescriptor encode_level_paramDescriptor;
@@ -64,7 +69,7 @@ void ZstdPublisher::declareParameters(const std::string & base_topic)
       auto result = rcl_interfaces::msg::SetParametersResult();
       result.successful = true;
       for (auto parameter : parameters) {
-        if (parameter.get_name() == "zstd_encode_level") {
+        if (parameter.get_name().find("zstd_encode_level") != std::string::npos) {
           this->encode_level_ = static_cast<int>(parameter.as_int());
           if (!(this->encode_level_ >= -1 && this->encode_level_ <= 9)) {
             RCLCPP_ERROR_STREAM(
@@ -97,7 +102,8 @@ ZstdPublisher::TypedEncodeResult ZstdPublisher::encodeTyped(
   compressed.compressed_data.resize(est_compress_size);
 
   auto compress_size =
-    ZSTD_compress(
+    ZSTD_compressCCtx(
+    this->zstd_context_,
     static_cast<void *>(&compressed.compressed_data[0]),
     est_compress_size,
     &raw.data[0],

diff --git a/zstd_point_cloud_transport/src/zstd_subscriber.cpp b/zstd_point_cloud_transport/src/zstd_subscriber.cpp
@@ -42,6 +42,11 @@
 
 namespace zstd_point_cloud_transport
 {
+ZstdSubscriber::ZstdSubscriber()
+{
+  this->zstd_context_ = ZSTD_createDCtx();
+}
+
 void ZstdSubscriber::declareParameters()
 {
 }
@@ -66,7 +71,8 @@ ZstdSubscriber::DecodeResult ZstdSubscriber::decodeTyped(
 
   result->data.resize(est_decomp_size);
 
-  size_t const decomp_size = ZSTD_decompress(
+  size_t const decomp_size = ZSTD_decompressDCtx(
+    this->zstd_context_,
     static_cast<void *>(&result->data[0]),
     est_decomp_size,
     &msg.compressed_data[0],