Fixed arguments when using the rclcpp_component as a regular node in image_view

image_view/CMakeLists.txt

@@ -57,6 +57,7 @@ add_dependencies(disparity_view
 
 ament_auto_add_executable(${PROJECT_NAME}
  src/image_view.cpp
+ src/utilities.cpp
 )
 target_link_libraries(${PROJECT_NAME}
  ${PROJECT_NAME}_nodes

image_view/src/image_view.cpp

@@ -46,19 +46,94 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdlib>
 #include <memory>
+#include <sstream>
+#include <string>
+#include <vector>
 
 #include <rclcpp/rclcpp.hpp>
 
 #include "image_view/image_view_node.hpp"
+#include "utilities.hpp"
 
 int main(int argc, char ** argv)
 {
  using image_view::ImageViewNode;
 
- rclcpp::init(argc, argv);
+ std::vector<std::string> args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+
+ // remove program name
+ args.erase(args.begin());
+
+ std::string image_transport{"raw"};
+ std::string window_name{"window"};
+ bool gui{true};
+ bool autosize{false};
+ int width{-1};
+ int height{-1};
+ std::string fileformat{"frame%04i.jpg"};
+ int colormap{-1};
+ int min_image_value{0};
+ int max_image_value{0};
+
+ if (image_view::has_option(args, "--image_transport")) {
+ image_transport = image_view::get_option(args, "--image_transport");
+ }
+ if (image_view::has_option(args, "--window_name")) {
+ window_name = image_view::get_option(args, "--window_name");
+ }
+ if (image_view::has_option(args, "--gui")) {
+ std::string result = image_view::get_option(args, "--gui");
+ if (result.size() == 1) {
+ std::istringstream(result) >> gui;
+ } else {
+ std::istringstream(result) >> std::boolalpha >> gui;
+ }
+ }
+ if (image_view::has_option(args, "--autosize")) {
+ std::string result = image_view::get_option(args, "--autosize");
+ if (result.size() == 1) {
+ std::istringstream(result) >> autosize;
+ } else {
+ std::istringstream(result) >> std::boolalpha >> autosize;
+ }
+ }
+ if (image_view::has_option(args, "--width")) {
+ width = std::atoi(image_view::get_option(args, "--width").c_str());
+ }
+ if (image_view::has_option(args, "--height")) {
+ height = std::atoi(image_view::get_option(args, "--height").c_str());
+ }
+ if (image_view::has_option(args, "--fileformat")) {
+ fileformat = image_view::get_option(args, "--fileformat");
+ }
+ if (image_view::has_option(args, "--colormap")) {
+ colormap = std::atoi(image_view::get_option(args, "--colormap").c_str());
+ }
+ if (image_view::has_option(args, "--min_image_value")) {
+ min_image_value = std::atoi(image_view::get_option(args, "--min_image_value").c_str());
+ }
+ if (image_view::has_option(args, "--max_image_value")) {
+ max_image_value = std::atoi(image_view::get_option(args, "--max_image_value").c_str());
+ }
 
  rclcpp::NodeOptions options;
+ // override default parameters with the desired transform
+ options.parameter_overrides(
+ {
+ {"image_transport", image_transport},
+ {"window_name", window_name},
+ {"gui", gui},
+ {"autosize", autosize},
+ {"height", height},
+ {"width", width},
+ {"colormap", colormap},
+ {"min_image_value", min_image_value},
+ {"max_image_value", max_image_value},
+ {"fileformat", fileformat},
+ });
+
  auto iv_node = std::make_shared<ImageViewNode>(options);
 
  rclcpp::spin(iv_node);

image_view/src/image_view_node.cpp

@@ -122,7 +122,7 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
  RCLCPP_WARN(
  this->get_logger(), "Topic 'image' has not been remapped! "
  "Typical command-line usage:\n"
- "\t$ rosrun image_view image_view image:=<image topic> [transport]");
+ "\t$ ros2 run image_view image_view image:=<image topic> --image_transport transport");
  }
 
  // Default window name is the resolved topic name

image_view/src/utilities.cpp

@@ -0,0 +1,45 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "utilities.hpp"
+
+#include <string>
+#include <vector>
+
+namespace image_view
+{
+std::string get_option(const std::vector<std::string> & args, const std::string & option_name)
+{
+ for (auto it = args.begin(), end = args.end(); it != end; ++it) {
+ if (*it == option_name) {
+ if (it + 1 != end) {
+ return *(it + 1);
+ }
+ }
+ }
+
+ return "";
+}
+
+bool has_option(const std::vector<std::string> & args, const std::string & option_name)
+{
+ for (auto it = args.begin(), end = args.end(); it != end; ++it) {
+ if (*it == option_name) {
+ return true;
+ }
+ }
+
+ return false;
+}
+} // namespace image_view

image_view/src/utilities.hpp

@@ -0,0 +1,35 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTILITIES_HPP_
+#define UTILITIES_HPP_
+
+#include <string>
+#include <vector>
+
+namespace image_view
+{
+/// Get the option from a list of arguments
+/// param[in] args List of arguments
+/// param[in] option name to extract
+/// return option value
+std::string get_option(const std::vector<std::string> & args, const std::string & option_name);
+
+/// Is the option available in the list of arguments
+/// param[in] args List of arguments
+/// param[in] option name to extract
+/// return true if the option exists or false otherwise
+bool has_option(const std::vector<std::string> & args, const std::string & option_name);
+} // namespace image_view
+#endif // UTILITIES_HPP_