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add transport scoped parameters for CompressedPublisher #143

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Apr 18, 2023
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add transport scoped parameters for CompressedPublisher #143

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45 changes: 18 additions & 27 deletions compressed_image_transport/include/compressed_image_transport/compressed_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,12 @@

#include <rclcpp/node.hpp>

#include "compressed_image_transport/compression_common.h"

namespace compressed_image_transport {

using CompressedImage = sensor_msgs::msg::CompressedImage;
using ParameterEvent = rcl_interfaces::msg::ParameterEvent;

class CompressedPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
{
Expand All @@ -66,35 +69,23 @@ class CompressedPublisher : public image_transport::SimplePublisherPlugin<Compre
void publish(const sensor_msgs::msg::Image& message,
const PublishFn& publish_fn) const override;

struct Config {
// Compression format to use "jpeg", "png" or "tiff".
std::string format;

// PNG Compression Level from 0 to 9. A higher value means a smaller size.
// Default to OpenCV default of 3
int png_level;

// JPEG Quality from 0 to 100 (higher is better quality).
// Default to OpenCV default of 95.
int jpeg_quality;

// TIFF resolution unit
// Can be one of "none", "inch", "centimeter".
std::string tiff_res_unit;
int tiff_xdpi;
int tiff_ydpi;
};
Config get_updated_config_from_parameters() const;

Config config_;
std::string format_param_name_;
std::string png_level_param_name_;
std::string jpeg_quality_param_name_;
std::string tiff_res_unit_param_name_;
std::string tiff_xdpi_param_name_;
std::string tiff_ydpi_param_name_;
rclcpp::Logger logger_;
rclcpp::Node * node_;

private:
std::vector<std::string> parameters_;
std::vector<std::string> deprecatedParameters_;

rclcpp::Subscription<ParameterEvent>::SharedPtr parameter_subscription_;

void declareParameters(rclcpp::Node* node, const std::string& base_topic);

void declareParameter(rclcpp::Node* node,
const std::string &base_name,
const std::string &transport_name,
const ParameterDefinition &definition);

void onParameterEvent(ParameterEvent::SharedPtr event, std::string full_name, std::string base_name);
};

} //namespace compressed_image_transport
86 changes: 86 additions & 0 deletions compressed_image_transport/include/compressed_image_transport/compression_common.h
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Expand Up @@ -47,6 +47,92 @@ enum compressionFormat
TIFF = 2,
};

// Parameters
// Note - what is below would be moved to separate file, e.g. `compressed_publisher_cfg.h`

enum compressedParameters
{
FORMAT = 0,
PNG_LEVEL,
JPEG_QUALITY,
TIFF_RESOLUTION_UNIT,
TIFF_XDPI,
TIFF_YDPI
};

using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
using ParameterValue = rclcpp::ParameterValue;

struct ParameterDefinition
{
const ParameterValue defaultValue;
const ParameterDescriptor descriptor;
};

const struct ParameterDefinition kParameters[] =
{
{ //FORMAT - Compression format to use "jpeg", "png" or "tiff".
ParameterValue("jpeg"),
ParameterDescriptor()
.set__name("format")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_STRING)
.set__description("Compression method")
.set__read_only(false)
.set__additional_constraints("Supported values: [jpeg, png]")
},
{ //PNG_LEVEL - PNG Compression Level from 0 to 9. A higher value means a smaller size.
ParameterValue((int)3), //Default to OpenCV default of 3
ParameterDescriptor()
.set__name("png_level")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER)
.set__description("Compression level for PNG format")
.set__read_only(false)
.set__integer_range(
{rcl_interfaces::msg::IntegerRange()
.set__from_value(0)
.set__to_value(9)
.set__step(1)})
},
{ //JPEG_QUALITY - JPEG Quality from 0 to 100 (higher is better quality).
ParameterValue((int)95), //Default to OpenCV default of 95.
ParameterDescriptor()
.set__name("jpeg_quality")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER)
.set__description("Image quality for JPEG format")
.set__read_only(false)
.set__integer_range(
{rcl_interfaces::msg::IntegerRange()
.set__from_value(1)
.set__to_value(100)
.set__step(1)})
},
{ //TIFF_RESOLUTION_UNIT - TIFF resolution unit, can be one of "none", "inch", "centimeter".
ParameterValue("inch"),
ParameterDescriptor()
.set__name("tiff.res_unit")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_STRING)
.set__description("tiff resolution unit")
.set__read_only(false)
.set__additional_constraints("Supported values: [none, inch, centimeter]")
},
{ //TIFF_XDPI
ParameterValue((int)-1),
ParameterDescriptor()
.set__name("tiff.xdpi")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER)
.set__description("tiff xdpi")
.set__read_only(false)
},
{ //TIFF_YDPI
ParameterValue((int)-1),
ParameterDescriptor()
.set__name("tiff.ydpi")
.set__type(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER)
.set__description("tiff ydpi")
.set__read_only(false)
}
};

} //namespace compressed_image_transport

#endif
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