Added more parameters for camera topic examples (#465)

* Added parameter for custom topic names, display window name and camera device id.

Signed-off-by: Daniel <[email protected]>

* Remove topic name parameters again.

Signed-off-by: Daniel <[email protected]>

* Update image_tools/src/cam2image.cpp

Co-Authored-By: Jacob Perron <[email protected]>
Signed-off-by: Daniel <[email protected]>

* Update image_tools/src/cam2image.cpp

Co-Authored-By: Jacob Perron <[email protected]>
Signed-off-by: Daniel <[email protected]>

* Use topic name as default window name.

Signed-off-by: Daniel <[email protected]>

* Add spaces.

Signed-off-by: Daniel <[email protected]>

* Explicit template type

To fix warning on Windows.

Signed-off-by: Jacob Perron <[email protected]>

* Explicitly cast parameter to int

This avoids a compiler warning on Windows.

Signed-off-by: Jacob Perron <[email protected]>

Co-authored-by: Daniel <[email protected]>
Co-authored-by: DanBmh <[email protected]>

Author: 3 people

image_tools/src/cam2image.cpp

@@ -89,8 +89,7 @@ class Cam2Image : public rclcpp::Node
 
     if (!burger_mode_) {
       // Initialize OpenCV video capture stream.
-      // Always open device 0.
-      cap.open(0);
+      cap.open(device_id_);
 
       // Set the width and height based on command line arguments.
       cap.set(cv::CAP_PROP_FRAME_WIDTH, static_cast<double>(width_));
@@ -181,6 +180,8 @@ class Cam2Image : public rclcpp::Node
       ss << std::endl;
       ss << "  show_camera\tShow camera stream. Either 'true' or 'false' (default)";
       ss << std::endl;
+      ss << "  device_id\tDevice ID of the camera. 0 (default) selects the default camera device.";
+      ss << std::endl;
       ss << "  width\t\tWidth component of the camera stream resolution. Default value is 320";
       ss << std::endl;
       ss << "  height\tHeight component of the camera stream resolution. Default value is 240";
@@ -236,6 +237,7 @@ class Cam2Image : public rclcpp::Node
     depth_ = this->declare_parameter("depth", 10);
     freq_ = this->declare_parameter("frequency", 30.0);
     show_camera_ = this->declare_parameter("show_camera", false);
+    device_id_ = static_cast<int>(this->declare_parameter("device_id", 0));
     width_ = this->declare_parameter("width", 320);
     height_ = this->declare_parameter("height", 240);
     rcl_interfaces::msg::ParameterDescriptor burger_mode_desc;
@@ -304,6 +306,7 @@ class Cam2Image : public rclcpp::Node
   size_t height_;
   bool burger_mode_;
   std::string frame_id_;
+  int device_id_;
 
   /// If true, will cause the incoming camera image message to flip about the y-axis.
   bool is_flipped_;

image_tools/src/showimage.cpp

@@ -53,11 +53,6 @@ class ShowImage : public rclcpp::Node
   IMAGE_TOOLS_LOCAL
   void initialize()
   {
-    if (show_image_) {
-      // Initialize an OpenCV named window called "showimage".
-      cv::namedWindow("showimage", cv::WINDOW_AUTOSIZE);
-      cv::waitKey(1);
-    }
     // Set quality of service profile based on command line options.
     auto qos = rclcpp::QoS(
       rclcpp::QoSInitialization(
@@ -82,6 +77,11 @@ class ShowImage : public rclcpp::Node
 
     RCLCPP_INFO(this->get_logger(), "Subscribing to topic '%s'", topic_.c_str());
     sub_ = create_subscription<sensor_msgs::msg::Image>(topic_, qos, callback);
+
+    if (window_name_ == "") {
+      // If no custom window name is given, use the topic name
+      window_name_ = sub_->get_topic_name();
+    }
   }
 
   IMAGE_TOOLS_LOCAL
@@ -110,6 +110,8 @@ class ShowImage : public rclcpp::Node
       ss << std::endl;
       ss << "  show_image\tShow the image. Either 'true' (default) or 'false'";
       ss << std::endl;
+      ss << "  window_name\tName of the display window. Default value is the topic name";
+      ss << std::endl;
       std::cout << ss.str();
       return true;
     }
@@ -156,6 +158,7 @@ class ShowImage : public rclcpp::Node
     // Declare and get remaining parameters
     depth_ = this->declare_parameter("depth", 10);
     show_image_ = this->declare_parameter("show_image", true);
+    window_name_ = this->declare_parameter("window_name", "");
   }
 
   /// Convert a sensor_msgs::Image encoding type (stored as a string) to an OpenCV encoding type.
@@ -206,8 +209,8 @@ class ShowImage : public rclcpp::Node
 
       cv::Mat cvframe = frame;
 
-      // Show the image in a window called "showimage".
-      cv::imshow("showimage", cvframe);
+      // Show the image in a window
+      cv::imshow(window_name_, cvframe);
       // Draw the screen and wait for 1 millisecond.
       cv::waitKey(1);
     }
@@ -219,6 +222,7 @@ class ShowImage : public rclcpp::Node
   rmw_qos_history_policy_t history_policy_ = rmw_qos_profile_default.history;
   bool show_image_ = true;
   std::string topic_ = "image";
+  std::string window_name_;
 };
 
 }  // namespace image_tools