refactor: apply snake_case to the function names

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Author: ktro2828

mmrviz/include/mmrviz/color_map.hpp

@@ -62,7 +62,7 @@ class ColorMap
     return table_.at(idx);
   }
 
-  const cv::Mat & getLookUpTable() const noexcept { return lut_; }
+  const cv::Mat & lookup_table() const noexcept { return lut_; }
 
 private:
   std::array<cv::Scalar, num_color> table_;

mmrviz/include/mmrviz/visualizer/box_array2d_visualizer.hpp

@@ -19,10 +19,7 @@
 
 #include <image_transport/publisher.hpp>
 #include <image_transport/subscriber_filter.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_options.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/timer.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <mmros_msgs/msg/box_array2d.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -43,15 +40,13 @@ class BoxArray2dVisualizer : public rclcpp::Node
 public:
   explicit BoxArray2dVisualizer(const rclcpp::NodeOptions & options);
 
+private:
+  void on_connect(bool use_raw);
+
   void callback(
     const sensor_msgs::msg::Image::ConstSharedPtr image_msg,
     const mmros_msgs::msg::BoxArray2d::ConstSharedPtr boxes_msg);
 
-private:
-  void onConnect(bool use_raw);
-
-  std::optional<rclcpp::QoS> getTopicQos(const std::string & query_topic);
-
   rclcpp::TimerBase::SharedPtr timer_;
   image_transport::SubscriberFilter image_sub_;
   message_filters::Subscriber<mmros_msgs::msg::BoxArray2d> boxes_sub_;

mmrviz/include/mmrviz/visualizer/box_array3d_visualizer.hpp

@@ -19,10 +19,7 @@
 
 #include <image_transport/publisher.hpp>
 #include <image_transport/subscriber_filter.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_options.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/timer.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <mmros_msgs/msg/box_array3d.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
@@ -54,6 +51,14 @@ class BoxArray3dVisualizer : public rclcpp::Node
    */
   explicit BoxArray3dVisualizer(const rclcpp::NodeOptions & options);
 
+private:
+  /**
+   * @brief Check connection and start subscribing topics.
+   *
+   * @param use_raw Indicates whether to use raw image.
+   */
+  void on_connect(bool use_raw);
+
   /**
    * @brief Render 3D boxes on the subscribed image.
    *
@@ -66,21 +71,6 @@ class BoxArray3dVisualizer : public rclcpp::Node
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg,
     const mmros_msgs::msg::BoxArray3d::ConstSharedPtr & boxes_msg);
 
-private:
-  /**
-   * @brief Check connection and start subscribing topics.
-   *
-   * @param use_raw Indicates whether to use raw image.
-   */
-  void onConnect(bool use_raw);
-
-  /**
-   * @brief Return the QoS of the specified topic.
-   *
-   * @param query_topic Topic name.
-   */
-  std::optional<rclcpp::QoS> getTopicQos(const std::string & query_topic);
-
   rclcpp::TimerBase::SharedPtr timer_;           //!< Callback timer.
   image_transport::SubscriberFilter image_sub_;  //!< Image subscription.
   message_filters::Subscriber<sensor_msgs::msg::CameraInfo>

mmrviz/include/mmrviz/visualizer/instance_segmentation2d_visualizer.hpp

@@ -19,10 +19,7 @@
 
 #include <image_transport/publisher.hpp>
 #include <image_transport/subscriber_filter.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_options.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/timer.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <mmros_msgs/msg/instance_segment_array2d.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -45,15 +42,13 @@ class InstanceSegmentation2dVisualizer : public rclcpp::Node
 
   explicit InstanceSegmentation2dVisualizer(const rclcpp::NodeOptions & options);
 
+private:
+  void on_connect(bool use_raw);
+
   void callback(
     const image_type::ConstSharedPtr & image_msg,
     const segment_type::ConstSharedPtr & segments_msg);
 
-private:
-  void onConnect(bool use_raw);
-
-  std::optional<rclcpp::QoS> getTopicQos(const std::string & query_topic);
-
   double mask_threshold_;  //!< Threshold value for mask.
 
   rclcpp::TimerBase::SharedPtr timer_;                      //!< Callback timer.

mmrviz/include/mmrviz/visualizer/segmentation2d_visualizer.hpp

@@ -19,10 +19,7 @@
 
 #include <image_transport/publisher.hpp>
 #include <image_transport/subscriber_filter.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_options.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/timer.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 
@@ -40,15 +37,13 @@ class Segmentation2dVisualizer : public rclcpp::Node
 public:
   explicit Segmentation2dVisualizer(const rclcpp::NodeOptions & options);
 
+private:
+  void on_connect(bool use_raw);
+
   void callback(
     const sensor_msgs::msg::Image::ConstSharedPtr & image_msg,
     const sensor_msgs::msg::Image::ConstSharedPtr & mask_msg);
 
-private:
-  void onConnect(bool use_raw);
-
-  std::optional<rclcpp::QoS> getTopicQos(const std::string & query_topic);
-
   rclcpp::TimerBase::SharedPtr timer_;
   image_transport::SubscriberFilter image_sub_;
   image_transport::SubscriberFilter mask_sub_;

mmrviz/package.xml

@@ -12,6 +12,7 @@
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>
   <depend>image_transport</depend>
+  <depend>mmros</depend>
   <depend>mmros_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

mmrviz/src/visualizer/box_array2d_visualizer.cpp

@@ -15,6 +15,7 @@
 #include "mmrviz/visualizer/box_array2d_visualizer.hpp"
 
 #include <image_transport/image_transport.hpp>
+#include <mmros/node/utility.hpp>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/core/operations.hpp>
 #include <opencv2/core/types.hpp>
@@ -44,27 +45,20 @@ BoxArray2dVisualizer::BoxArray2dVisualizer(const rclcpp::NodeOptions & options)
   using std::chrono_literals::operator""ms;
 
   bool use_raw = declare_parameter<bool>("use_raw");
-  timer_ =
-    rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() { this->onConnect(use_raw); });
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, [this, use_raw]() { this->on_connect(use_raw); });
 
   pub_ = image_transport::create_publisher(this, "~/output/image");
 }
 
-void BoxArray2dVisualizer::onConnect(bool use_raw)
+void BoxArray2dVisualizer::on_connect(bool use_raw)
 {
-  auto resolve_topic_name = [this](const std::string & query) {
-    return this->get_node_topics_interface()->resolve_topic_name(query);
-  };
-
-  const auto image_topic = resolve_topic_name("~/input/image");
-  auto image_topic_for_qos_query = image_topic;
-  if (!use_raw) {
-    image_topic_for_qos_query += "/compressed";
-  }
-  const auto image_qos = getTopicQos(image_topic_for_qos_query);
+  const auto image_topic = mmros::node::resolve_topic_name(this, "~/input/image");
+  const auto image_qos = use_raw ? mmros::node::to_topic_qos(this, image_topic)
+                                 : mmros::node::to_topic_qos(this, image_topic + "/compressed");
 
-  const auto boxes_topic = resolve_topic_name("~/input/boxes");
-  const auto boxes_qos = getTopicQos(boxes_topic);
+  const auto boxes_topic = mmros::node::resolve_topic_name(this, "~/input/boxes");
+  const auto boxes_qos = mmros::node::to_topic_qos(this, boxes_topic);
 
   if (image_qos && boxes_qos) {
     const auto transport = use_raw ? "raw" : "compressed";
@@ -77,16 +71,6 @@ void BoxArray2dVisualizer::onConnect(bool use_raw)
   }
 }
 
-std::optional<rclcpp::QoS> BoxArray2dVisualizer::getTopicQos(const std::string & query_topic)
-{
-  const auto publisher_info = get_publishers_info_by_topic(query_topic);
-  if (publisher_info.size() != 1) {
-    return {};
-  } else {
-    return publisher_info[0].qos_profile();
-  }
-}
-
 void BoxArray2dVisualizer::callback(
   const sensor_msgs::msg::Image::ConstSharedPtr image_msg,
   const mmros_msgs::msg::BoxArray2d::ConstSharedPtr boxes_msg)

mmrviz/src/visualizer/box_array3d_visualizer.cpp

@@ -15,6 +15,7 @@
 #include "mmrviz/visualizer/box_array3d_visualizer.hpp"
 
 #include <image_transport/image_transport.hpp>
+#include <mmros/node/utility.hpp>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/core/operations.hpp>
 #include <opencv2/core/types.hpp>
@@ -185,30 +186,23 @@ BoxArray3dVisualizer::BoxArray3dVisualizer(const rclcpp::NodeOptions & options)
   using std::chrono_literals::operator""ms;
 
   bool use_raw = declare_parameter<bool>("use_raw");
-  timer_ =
-    rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() { this->onConnect(use_raw); });
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, [this, use_raw]() { this->on_connect(use_raw); });
 
   pub_ = image_transport::create_publisher(this, "~/output/image");
 }
 
-void BoxArray3dVisualizer::onConnect(bool use_raw)
+void BoxArray3dVisualizer::on_connect(bool use_raw)
 {
-  auto resolve_topic_name = [this](const std::string & query) {
-    return this->get_node_topics_interface()->resolve_topic_name(query);
-  };
-
-  const auto image_topic = resolve_topic_name("~/input/image");
-  auto image_topic_for_qos_query = image_topic;
-  if (!use_raw) {
-    image_topic_for_qos_query += "/compressed";
-  }
-  const auto image_qos = getTopicQos(image_topic_for_qos_query);
+  const auto image_topic = mmros::node::resolve_topic_name(this, "~/input/image");
+  const auto image_qos = use_raw ? mmros::node::to_topic_qos(this, image_topic)
+                                 : mmros::node::to_topic_qos(this, image_topic + "/compressed");
 
-  const auto camera_info_topic = resolve_topic_name("~/input/camera_info");
-  const auto camera_info_qos = getTopicQos(camera_info_topic);
+  const auto camera_info_topic = mmros::node::resolve_topic_name(this, "~/input/camera_info");
+  const auto camera_info_qos = mmros::node::to_topic_qos(this, camera_info_topic);
 
-  const auto boxes_topic = resolve_topic_name("~/input/boxes");
-  const auto boxes_qos = getTopicQos(boxes_topic);
+  const auto boxes_topic = mmros::node::resolve_topic_name(this, "~/input/boxes");
+  const auto boxes_qos = mmros::node::to_topic_qos(this, boxes_topic);
 
   bool is_image_ok = image_qos.has_value();
   bool is_camera_info_ok = camera_info_qos.has_value();
@@ -228,16 +222,6 @@ void BoxArray3dVisualizer::onConnect(bool use_raw)
   }
 }
 
-std::optional<rclcpp::QoS> BoxArray3dVisualizer::getTopicQos(const std::string & query_topic)
-{
-  const auto publishers_info = get_publishers_info_by_topic(query_topic);
-  if (publishers_info.size() != 1) {
-    return std::nullopt;
-  } else {
-    return publishers_info[0].qos_profile();
-  }
-}
-
 void BoxArray3dVisualizer::callback(
   const sensor_msgs::msg::Image::ConstSharedPtr & image_msg,
   const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg,

mmrviz/src/visualizer/instance_segmentation2d_visualizer.cpp

@@ -17,6 +17,7 @@
 #include "mmrviz/color_map.hpp"
 
 #include <image_transport/image_transport.hpp>
+#include <mmros/node/utility.hpp>
 #include <opencv2/core.hpp>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/core/matx.hpp>
@@ -44,24 +45,20 @@ InstanceSegmentation2dVisualizer::InstanceSegmentation2dVisualizer(
   mask_threshold_ = declare_parameter<double>("mask_threshold", 0.8);
 
   bool use_raw = declare_parameter<bool>("use_raw");
-  timer_ =
-    rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() { this->onConnect(use_raw); });
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 100ms, [this, use_raw]() { this->on_connect(use_raw); });
 
   pub_ = image_transport::create_publisher(this, "~/output/image");
 }
 
-void InstanceSegmentation2dVisualizer::onConnect(bool use_raw)
+void InstanceSegmentation2dVisualizer::on_connect(bool use_raw)
 {
-  auto resolve_topic_name = [this](const std::string & query) {
-    return this->get_node_topics_interface()->resolve_topic_name(query);
-  };
+  const auto image_topic = mmros::node::resolve_topic_name(this, "~/input/image");
+  const auto image_qos = use_raw ? mmros::node::to_topic_qos(this, image_topic)
+                                 : mmros::node::to_topic_qos(this, image_topic + "/compressed");
 
-  const auto image_topic = resolve_topic_name("~/input/image");
-  const auto image_qos =
-    use_raw ? getTopicQos(image_topic) : getTopicQos(image_topic + "/compressed");
-
-  const auto segments_topic = resolve_topic_name("~/input/segments");
-  const auto segments_qos = getTopicQos(segments_topic);
+  const auto segments_topic = mmros::node::resolve_topic_name(this, "~/input/segments");
+  const auto segments_qos = mmros::node::to_topic_qos(this, segments_topic);
 
   if (image_qos && segments_qos) {
     const auto transport = use_raw ? "raw" : "compressed";
@@ -75,17 +72,6 @@ void InstanceSegmentation2dVisualizer::onConnect(bool use_raw)
   }
 }
 
-std::optional<rclcpp::QoS> InstanceSegmentation2dVisualizer::getTopicQos(
-  const std::string & query_topic)
-{
-  const auto publishers_info = get_publishers_info_by_topic(query_topic);
-  if (publishers_info.size() != 1) {
-    return std::nullopt;
-  } else {
-    return publishers_info[0].qos_profile();
-  }
-}
-
 void InstanceSegmentation2dVisualizer::callback(
   const image_type::ConstSharedPtr & image_msg, const segment_type::ConstSharedPtr & segments_msg)
 {
@@ -97,7 +83,7 @@ void InstanceSegmentation2dVisualizer::callback(
     return;
   }
 
-  const auto & lut = color_map_.getLookUpTable();
+  const auto & lut = color_map_.lookup_table();
   auto & image = in_image_ptr->image;
   for (size_t i = 0; i < segments_msg->segments.size(); ++i) {
     const auto & box = segments_msg->segments[i].box;