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rework parameters for foxy #21

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merged 1 commit into from
Nov 30, 2020
Merged

rework parameters for foxy #21

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6 changes: 3 additions & 3 deletions include/opencv_cam/camera_context.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,12 +23,12 @@ namespace opencv_cam
CXT_MACRO_MEMBER(camera_frame_id, std::string, "camera_frame") /* Camera frame id */ \
/* End of list */

#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_DEFINE_MEMBER(n, t, d)

struct CameraContext
{
OPENCV_CAM_ALL_PARAMS
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_DEFINE_MEMBER(n, t, d)
CXT_MACRO_DEFINE_MEMBERS(OPENCV_CAM_ALL_PARAMS)
};

} // namespace opencv_cam
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3 changes: 2 additions & 1 deletion include/opencv_cam/opencv_cam_node.hpp
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
#ifndef OPENCV_CAM_HPP
#define OPENCV_CAM_HPP

#include "opencv_cam/camera_context.hpp"

#include "opencv2/highgui/highgui.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/image.hpp"

#include "opencv_cam/camera_context.hpp"

namespace opencv_cam
{

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28 changes: 17 additions & 11 deletions src/opencv_cam_node.cpp
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Expand Up @@ -29,15 +29,25 @@ namespace opencv_cam
{
RCLCPP_INFO(get_logger(), "use_intra_process_comms=%d", options.use_intra_process_comms());

// Get parameters
// Initialize parameters
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_LOAD_PARAMETER((*this), cxt_, n, t, d)
CXT_MACRO_INIT_PARAMETERS(OPENCV_CAM_ALL_PARAMS, validate_parameters)

// Register parameters
// Register for parameter changed. NOTE at this point nothing is done when parameters change.
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_PARAMETER_CHANGED(cxt_, n, t)
CXT_MACRO_REGISTER_PARAMETERS_CHANGED((*this), OPENCV_CAM_ALL_PARAMS, validate_parameters)
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_PARAMETER_CHANGED(n, t)
CXT_MACRO_REGISTER_PARAMETERS_CHANGED((*this), cxt_, OPENCV_CAM_ALL_PARAMS, validate_parameters)

// Log the current parameters
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_LOG_SORTED_PARAMETER(cxt_, n, t, d)
CXT_MACRO_LOG_SORTED_PARAMETERS(RCLCPP_INFO, get_logger(), "opencv_cam Parameters", OPENCV_CAM_ALL_PARAMS)

// Check that all command line parameters are registered
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_CHECK_CMDLINE_PARAMETER(n, t, d)
CXT_MACRO_CHECK_CMDLINE_PARAMETERS((*this), OPENCV_CAM_ALL_PARAMS)

RCLCPP_INFO(get_logger(), "OpenCV version %d", CV_VERSION_MAJOR);

Expand All @@ -61,7 +71,7 @@ namespace opencv_cam
double width = capture_->get(cv::CAP_PROP_FRAME_WIDTH);
double height = capture_->get(cv::CAP_PROP_FRAME_HEIGHT);
RCLCPP_INFO(get_logger(), "file %s open, width %g, height %g, publish fps %d",
cxt_.filename_.c_str(), width, height, publish_fps_);
cxt_.filename_.c_str(), width, height, publish_fps_);

next_stamp_ = now();

Expand Down Expand Up @@ -89,7 +99,7 @@ namespace opencv_cam
double height = capture_->get(cv::CAP_PROP_FRAME_HEIGHT);
double fps = capture_->get(cv::CAP_PROP_FPS);
RCLCPP_INFO(get_logger(), "device %d open, width %g, height %g, device fps %g",
cxt_.index_, width, height, fps);
cxt_.index_, width, height, fps);
}

assert(!cxt_.camera_info_path_.empty()); // readCalibration will crash if file_name is ""
Expand Down Expand Up @@ -121,11 +131,7 @@ namespace opencv_cam
}

void OpencvCamNode::validate_parameters()
{
#undef CXT_MACRO_MEMBER
#define CXT_MACRO_MEMBER(n, t, d) CXT_MACRO_LOG_PARAMETER(RCLCPP_INFO, get_logger(), cxt_, n, t, d)
OPENCV_CAM_ALL_PARAMS
}
{}

void OpencvCamNode::loop()
{
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