Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Initial Merging: Setting up ImageSaverNode #944

Open
wants to merge 12 commits into
base: rolling
Choose a base branch
from

Conversation

CursedRock17
Copy link

This PR looks to solve issue #935 by Merging ExtractImagesNode into ImageSaver. Before we go ahead and do it, I assume we want ExtractImagesNode entirely removed since ImageSaver will now have all the functionailty and more of that previous node, opposed to just inheriting from that class.

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
@mikeferguson
Copy link
Member

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

image_view/src/image_saver_node.cpp Outdated Show resolved Hide resolved
image_view/src/image_saver_node.cpp Outdated Show resolved Hide resolved
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
@CursedRock17
Copy link
Author

Adding [a] new "fps" parameter to ImageSaver - when the parameter is set, we should setup a timer to fire and save images.

Do we need to make a TimerBase with a new callback, or does that seem excessive? Furthermore, if we had that callback we would need to get access to that image, from inside the constructor of ImageSaverNode

@mikeferguson
Copy link
Member

Do we need to make a TimerBase with a new callback, or does that seem excessive? Furthermore, if we had that callback we would need to get access to that image, from inside the constructor of ImageSaverNode

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>
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
@@ -68,6 +68,7 @@ class ImageSaverNode

private:
std::string g_format;
int fps_;
Copy link
Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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>
@CursedRock17
Copy link
Author

@mikeferguson friendly ping, this is ready for review

Copy link
Contributor

@ahcorde ahcorde left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

conflicts

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants