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image_proc::CropDecimateNode: parameter handle #978

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image_proc::CropDecimateNode: parameter handle #978

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5 changes: 5 additions & 0 deletions image_proc/include/image_proc/crop_decimate.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,10 +34,12 @@
#define IMAGE_PROC__CROP_DECIMATE_HPP_

#include <string>
#include <vector>

#include "cv_bridge/cv_bridge.hpp"

#include <image_transport/image_transport.hpp>
#include <rcl_interfaces/msg/set_parameters_result.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
Expand Down Expand Up @@ -66,6 +68,7 @@ class CropDecimateNode : public rclcpp::Node
private:
image_transport::CameraSubscriber sub_;
image_transport::CameraPublisher pub_;
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_cb_handle_;
int queue_size_;
std::string target_frame_id_;
int decimation_x_, decimation_y_, offset_x_, offset_y_, width_, height_;
Expand All @@ -75,6 +78,8 @@ class CropDecimateNode : public rclcpp::Node
void imageCb(
const sensor_msgs::msg::Image::ConstSharedPtr image_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);

rcl_interfaces::msg::SetParametersResult paramCb(const std::vector<rclcpp::Parameter> &);
};

} // namespace image_proc
Expand Down
51 changes: 51 additions & 0 deletions image_proc/src/crop_decimate.cpp
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Expand Up @@ -158,6 +158,10 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
// Create publisher with QoS matched to subscribed topic publisher
auto qos_profile = getTopicQosProfile(this, image_topic_);
pub_ = image_transport::create_camera_publisher(this, pub_topic, qos_profile, pub_options);

// Create parameter callback handle
param_cb_handle_ = this->add_on_set_parameters_callback(
std::bind(&CropDecimateNode::paramCb, this, std::placeholders::_1));
}

void CropDecimateNode::imageCb(
Expand Down Expand Up @@ -356,6 +360,53 @@ void CropDecimateNode::imageCb(
pub_.publish(out_image, out_info);
}

rcl_interfaces::msg::SetParametersResult CropDecimateNode::paramCb(
const std::vector<rclcpp::Parameter>& parameters)
{
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto & param : parameters) {
if (param.get_name() == "offset_x") {
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@mhubii mhubii May 2, 2024 •
edited
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  • Should other parameters be handled as well?
  • Are additional checks on set desired?
  • Introduce parameter name as members?

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you can also add decimation_x_, decimation_y_ and target_frame_id_

if (param.as_int() < 0) {
result.reason = "offset_x must be non-negative";
RCLCPP_WARN(get_logger(), result.reason.c_str());
result.successful = false;
continue;
}
offset_x_ = param.as_int();
RCLCPP_INFO(get_logger(), "New offset_x: %d", offset_x_);
} else if (param.get_name() == "offset_y") {
if (param.as_int() < 0) {
result.reason = "offset_y must be non-negative";
RCLCPP_WARN(get_logger(), result.reason.c_str());
result.successful = false;
continue;
}
offset_y_ = param.as_int();
RCLCPP_INFO(get_logger(), "New offset_y: %d", offset_y_);
} else if (param.get_name() == "width") {
if (param.as_int() < 0) {
result.reason = "width must be non-negative";
RCLCPP_WARN(get_logger(), result.reason.c_str());
result.successful = false;
continue;
}
width_ = param.as_int();
RCLCPP_INFO(get_logger(), "New width: %d", width_);
} else if (param.get_name() == "height") {
if (param.as_int() < 0) {
result.reason = "height must be non-negative";
RCLCPP_WARN(get_logger(), result.reason.c_str());
result.successful = false;
continue;
}
height_ = param.as_int();
RCLCPP_INFO(get_logger(), "New height: %d", height_);
}
}
return result;
}

} // namespace image_proc

#include "rclcpp_components/register_node_macro.hpp"
Expand Down