Initial Merging: Setting up ImageSaverNode #944
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Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
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Yes - there really isn't any reason to have two separate nodes that have similar, but not identical features. If image_saver supports saving at a particular rate, then it replaces the functionality of extract images node |
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
Do we need to make a |
The end goal is to save at a fixed rate, regardless of the rate that the image shows up - I haven't come up with anything better than a ROS timer. The timer would require another callback (the function signature is different). When FPS parameter is set, we would want the image callback to save the latest image in a class variable so that the timer callback can access it (and that also means adding a mutex to protect that shared variable in case somebody loads the component with a multi-threaded executor). |
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
| @@ -68,6 +68,7 @@ class ImageSaverNode | |||
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| private: | |||
| std::string g_format; | |||
| int fps_; | |||
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We can leave fps_ as an int since there's no weird math similar to what was happening in secs_per_frame, right?
Signed-off-by: CursedRock17 <mtglucas1@gmail.com> Revert "Initial Merging: Setting up ImageSaverNode" This reverts commit 4534c95. DisparityNode: replace full_dp parameter with sgbm_mode (ros-perception#945) Previously, only the SGBM and HH modes were allowed add invalid_depth param (ros-perception#943) Add option to set all invalid depth pixels to a specified value, typically the maximum range. * Updates convertDepth parameter name and optimizes use of the parameter. * Updates PointCloudXYZ, PointCloudXYZI, and PointCloudXYZRGB with new invalid_depth parameter Adding scale parameter to camera calibrator Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
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@mikeferguson friendly ping, this is ready for review |
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
This PR looks to solve issue #935 by Merging
ExtractImagesNodeintoImageSaver. Before we go ahead and do it, I assume we wantExtractImagesNodeentirely removed since ImageSaver will now have all the functionailty and more of that previous node, opposed to just inheriting from that class.