diff --git a/cfg/ImageLocalBinarization.cfg b/cfg/ImageLocalBinarization.cfg index 8f3f5771dd67a0326f064e9e5cd0941598f37ffb..0851b6c695a03e734209b78b70d962375e8d7248 100755 --- a/cfg/ImageLocalBinarization.cfg +++ b/cfg/ImageLocalBinarization.cfg @@ -41,5 +41,7 @@ gen = ParameterGenerator() #gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0) gen.add( "window_size", int_t, 0, "Local threshold window size", 15, 3, 500) gen.add( "k", double_t, 0, "Multiplicative constant for local deviation", 0.06, 0, 0.5) +#not reconfigurable +#gen.add( "queue size", int_t, 0, "subscriber queue size for image_transport", 10, 1, 100) exit(gen.generate(PACKAGE, "ImageLocalBinarizationAlgorithm", "ImageLocalBinarization")) diff --git a/src/image_local_binarization_alg_node.cpp b/src/image_local_binarization_alg_node.cpp index b05eca5c7cb9108fa17d3dbb2f342fdfa6b05d9d..56c22bfb3c2c11196b86b5b40896da204ff95c1c 100644 --- a/src/image_local_binarization_alg_node.cpp +++ b/src/image_local_binarization_alg_node.cpp @@ -9,8 +9,10 @@ ImageLocalBinarizationAlgNode::ImageLocalBinarizationAlgNode(void) : // [init publishers] this->image_out_publisher_ = this->it.advertiseCamera("image_out/image_raw", 1); + int queue_size=10; + this->private_node_handle_.getParam("queue_size", queue_size); // [init subscribers] - this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", 1, &ImageLocalBinarizationAlgNode::image_in_callback,this); + this->image_in_subscriber_ = this->it.subscribeCamera("image_in/image_raw", queue_size, &ImageLocalBinarizationAlgNode::image_in_callback,this); pthread_mutex_init(&this->image_in_mutex_,NULL);