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Update extract_images_sync to add sec_per_frame parameter #920

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merged 4 commits into from
Jan 31, 2024
Merged

Update extract_images_sync to add sec_per_frame parameter #920

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64b8ab2
Update extract_images_sync to add sec_per_frame parameter
artineering Jan 31, 2024
40fcdd2
Update extract_images_sync
artineering Jan 31, 2024
4062818
Update extract_images_sync
artineering Jan 31, 2024
3dc23f4
make param float, proper comparison
mikeferguson Jan 31, 2024
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22 changes: 21 additions & 1 deletion image_view/scripts/extract_images_sync
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Original file line number Diff line number Diff line change
Expand Up @@ -51,10 +51,19 @@ class ExtractImagesSync(Node):
super().__init__('extract_images_sync')
self.get_logger().info('Extract_Images_Sync Node has been started')
self.seq = 0
self.last_frame_time = self.get_clock().now()

self.fname_fmt = self.declare_parameter(
'filename_format', 'frame%04i_%i.jpg').value
'filename_format', 'frame%04i_%i.jpg').value

# Do not scale dynamically by default.
self.do_dynamic_scaling = self.declare_parameter(
'do_dynamic_scaling', False).value

# Limit the throughput to 10fps by default.
self.sec_per_frame = self.declare_parameter(
'sec_per_frame', 0).value
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img_topics = self.declare_parameter('inputs', None).value

if img_topics is None:
Expand All @@ -80,6 +89,17 @@ Typical command-line usage:
sync.registerCallback(self.save)

def save(self, *imgmsgs):
delay = self.get_clock().now() - self.last_frame_time

# Decimation is enabled if it is set to greater than
# zero. If it is enabled, exit if delay is less than
# the decimation rate specified.
if (self.sec_per_frame > 0) and (delay.to_sec() < self.sec_per_frame):
return

# Update the current time
self.last_frame_time = self.get_clock().now()

seq = self.seq
bridge = cv_bridge.CvBridge()
for i, imgmsg in enumerate(imgmsgs):
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