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Improved Image view dynamic parameters description #829

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merged 2 commits into from
Jan 17, 2024
Merged

Improved Image view dynamic parameters description #829

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fc11c26
Improved Image view dynamic parameters description
ahcorde Jul 12, 2023
629b099
Merge branch 'rolling' into ahcorde/improve/param_description
ahcorde Jan 17, 2024
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30 changes: 27 additions & 3 deletions image_view/src/image_view_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,9 +135,33 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
this->declare_parameter("filename_format", std::string("frame%04i.jpg"));
filename_format_.parse(format_string);

colormap_ = this->declare_parameter("colormap", -1);
min_image_value_ = this->declare_parameter("min_image_value", 0);
max_image_value_ = this->declare_parameter("max_image_value", 0);
rcl_interfaces::msg::ParameterDescriptor colormap_paramDescriptor;
colormap_paramDescriptor.name = "colormap";
colormap_paramDescriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
colormap_paramDescriptor.description =
"ColorMap -1 = NO_COLORMAP, 0 = AUTUMN, 1 = BONE, 2 = JET, 3 = WINTER, 4 = RAINBOW, 5 = OCEAN"
"6 = SUMMER, 7 = SPRING, 8 = COOL, 9 = HSV, 10 = PINK, 11 = HOT";
colormap_paramDescriptor.set__integer_range(
{rcl_interfaces::msg::IntegerRange()
.set__from_value(-1)
.set__to_value(11)
.set__step(1)});
colormap_ = this->declare_parameter<int>(
colormap_paramDescriptor.name, -1, colormap_paramDescriptor);

rcl_interfaces::msg::ParameterDescriptor min_image_value_paramDescriptor;
min_image_value_paramDescriptor.name = "min_image_value";
min_image_value_paramDescriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
min_image_value_paramDescriptor.description = "Minimum image value for scaling depth/float image";
min_image_value_ = this->declare_parameter(
min_image_value_paramDescriptor.name, 0, min_image_value_paramDescriptor);

rcl_interfaces::msg::ParameterDescriptor max_image_value_paramDescriptor;
max_image_value_paramDescriptor.name = "max_image_value";
max_image_value_paramDescriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
max_image_value_paramDescriptor.description = "Minimum image value for scaling depth/float image";
max_image_value_ = this->declare_parameter(
max_image_value_paramDescriptor.name, 0, max_image_value_paramDescriptor);

if (g_gui) {
window_thread_ = std::thread(&ImageViewNode::windowThread, this);
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