Beispiel #1
0
void VoNode::processUserActions()
{
  char input = remote_input_.c_str()[0];
  remote_input_ = "";

  if(user_input_thread_ != NULL)
  {
    char console_input = user_input_thread_->getInput();
    if(console_input != 0)
      input = console_input;
  }

  switch(input)
  {
    case 'q':
      quit_ = true;
      printf("SVO user input: QUIT\n");
      break;
    case 'r':
      vo_->reset();
      printf("SVO user input: RESET\n");
      break;
    case 's':
      vo_->start();
      printf("SVO user input: START\n");
      break;
    default: ;
  }
}
Beispiel #2
0
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
  cv::Mat img;
  try {
    img = cv_bridge::toCvShare(msg, "mono8")->image;
  } catch (cv_bridge::Exception& e) {
    ROS_ERROR("cv_bridge exception: %s", e.what());
  }
  processUserActions();

  double diff1 = msg->header.stamp.toSec() - time_start.toSec();
//  std::cout<<"diff1: "<< diff1 <<std::endl;

  if((diff1 > time_window.toSec()) && state == SSTART){
      vo_->reset();
      vo_->start();
      state = SGOT_KEY_1;
  }
  vo_->addImage(img, msg->header.stamp.toSec());
  svo_scale_ = vo_->svo_scale_;

  if((vo_->stage() == FrameHandlerMono::STAGE_SECOND_FRAME) && state == SGOT_KEY_1)
  {    std::cout<<"the first frame at time: "<<msg->header.stamp.toSec()<<std::endl;
       time_first = msg->header.stamp;
       state = SGOT_KEY_2;
  }

  if((vo_->stage() == FrameHandlerMono::STAGE_DEFAULT_FRAME) && state == SGOT_KEY_2)
  {    //std::cout<<"the second frame at time: "<<msg->header.stamp.toSec()<<std::endl;
       time_second = msg->header.stamp;
       state = SGETTING_SCALE;
  }

  double diff2 = msg->header.stamp.toSec() - time_second.toSec();
//  std::cout<<"diff2: "<< diff2 <<std::endl;
//  std::cout<<"state: "<< state <<std::endl;

  if((diff2 > time_window.toSec()) && state == SGETTING_SCALE){
      std::cout<<"time_first: "<< time_first <<std::endl;
      std::cout<<"time_second: "<< time_second <<std::endl;
      if(VoNode::initCb()){
          state = SDEFAULT;
      }
  }

  visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());

  if(publish_markers_){
      visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map(), state == SDEFAULT, svo_scale_, our_scale_);
  }

  if(publish_dense_input_)
    visualizer_.exportToDense(vo_->lastFrame());

  if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
    usleep(100000);
}