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Fix humble parameter config for compressed depth image transport publisher #165

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May 17, 2024
Merged

Fix humble parameter config for compressed depth image transport publisher #165

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4 changes: 2 additions & 2 deletions compressed_depth_image_transport/src/compressed_depth_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@
#include <vector>
#include <sstream>

constexpr int kDefaultPngLevel = 9;
constexpr int kDefaultPngLevel = 3;
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is there any reason to change the default behaviour ? I would like to avoid change this because it might affect other users.

The other change LGTM

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The default was changed in future releases so I just matched them, and when I tested it a while back I think I remember 9 compression giving me problems (I think taking too long that it was reducing the frame rate). I would need to run it again to check, but since it's a param we can just change it back

constexpr double kDefaultDepthMax = 10.0;
constexpr double KDefaultDepthQuantization = 100.0;

Expand All @@ -67,7 +67,7 @@ void CompressedDepthPublisher::advertiseImpl(

node->get_parameter_or<int>("png_level", config_.png_level, kDefaultPngLevel);
node->get_parameter_or<double>("depth_max", config_.depth_max, kDefaultDepthMax);
node->get_parameter_or<double>("depth_quantization", config_.depth_max, KDefaultDepthQuantization);
node->get_parameter_or<double>("depth_quantization", config_.depth_quantization, KDefaultDepthQuantization);
}

void CompressedDepthPublisher::publish(
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