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Fixed parameter names (backport #28) #30

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Oct 5, 2023
Merged

Fixed parameter names (backport #28) #30

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42 changes: 21 additions & 21 deletions draco_point_cloud_transport/src/draco_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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::
Expand All @@ -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;
}
Expand Down
2 changes: 1 addition & 1 deletion zlib_point_cloud_transport/src/zlib_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand Down
10 changes: 10 additions & 0 deletions zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

Expand All @@ -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;
Expand All @@ -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

Expand Down
7 changes: 7 additions & 0 deletions zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp
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Expand Up @@ -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>
Expand All @@ -47,6 +49,8 @@ class ZstdSubscriber
point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
ZstdSubscriber();

std::string getTransportName() const override;

void declareParameters() override;
Expand All @@ -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

Expand Down
10 changes: 8 additions & 2 deletions zstd_point_cloud_transport/src/zstd_publisher.cpp
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Expand Up @@ -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;
Expand All @@ -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(
Expand Down Expand Up @@ -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],
Expand Down
8 changes: 7 additions & 1 deletion zstd_point_cloud_transport/src/zstd_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,11 @@

namespace zstd_point_cloud_transport
{
ZstdSubscriber::ZstdSubscriber()
{
this->zstd_context_ = ZSTD_createDCtx();
}

void ZstdSubscriber::declareParameters()
{
}
Expand All @@ -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],
Expand Down
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