From f68a002e1844575e089315785490c49856e49133 Mon Sep 17 00:00:00 2001 From: Marc Dalmasso <marc.dalmasso@upc.edu> Date: Thu, 15 Jun 2023 16:56:45 +0200 Subject: [PATCH] Add queue_size param read at startup --- cfg/ImageLocalBinarization.cfg | 2 ++ src/image_local_binarization_alg_node.cpp | 4 +++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/cfg/ImageLocalBinarization.cfg b/cfg/ImageLocalBinarization.cfg index 8f3f577..0851b6c 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 b05eca5..56c22bf 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); -- GitLab