bool publish() {
if (buf_flag) {
pthread_mutex_lock(&mutex);
//image_obj is empty
if (image_obj_ringbuf.begin() == image_obj_ringbuf.end()) {
pthread_mutex_unlock(&mutex);
ROS_INFO("image_obj ring buffer is empty");
return false;
}
//vscan_image is empty
if (vscan_image_ringbuf.begin() == vscan_image_ringbuf.end()) {
pthread_mutex_unlock(&mutex);
ROS_INFO("vscan_image ring buffer is empty");
return false;
}
// image_obj > vscan_image
if (get_time(&(image_obj_ringbuf.front().header)) >= get_time(&(vscan_image_ringbuf.front().header))) {
p_vscan_image_buf = &(vscan_image_ringbuf.front());
boost::circular_buffer<autoware_msgs::image_obj>::iterator it = image_obj_ringbuf.begin();
if (image_obj_ringbuf.size() == 1) {
p_image_obj_buf = &*it;
publish_msg(p_image_obj_buf, p_vscan_image_buf);
pthread_mutex_unlock(&mutex);
return true;
} else {
for (it++; it != image_obj_ringbuf.end(); it++) {
if (fabs_time_diff(&(vscan_image_ringbuf.front().header), &((it-1)->header))
< fabs_time_diff(&(vscan_image_ringbuf.front().header), &(it->header))) {
p_image_obj_buf = &*(it-1);
break;
}
}
if (it == image_obj_ringbuf.end()) {
p_image_obj_buf = &(image_obj_ringbuf.back());
}
}
}
// image_obj < vscan_image
else {
p_image_obj_buf = &(image_obj_ringbuf.front());
boost::circular_buffer<autoware_msgs::PointsImage>::iterator it = vscan_image_ringbuf.begin();
if (vscan_image_ringbuf.size() == 1) {
p_vscan_image_buf = &*it;
publish_msg(p_image_obj_buf, p_vscan_image_buf);
pthread_mutex_unlock(&mutex);
return true;
}
for (it++; it != vscan_image_ringbuf.end(); it++) {
if (fabs_time_diff(&(image_obj_ringbuf.front().header), &((it-1)->header))
< fabs_time_diff(&(image_obj_ringbuf.front().header), &(it->header))) {
p_vscan_image_buf = &*(it-1);
break;
}
}
if (it == vscan_image_ringbuf.end()) {
p_vscan_image_buf = &(vscan_image_ringbuf.back());
}
}
publish_msg(p_image_obj_buf, p_vscan_image_buf);
if (image_obj_ranged_flag == true){
buf_flag = false;
image_obj_ranged_flag = false;
pthread_mutex_unlock(&flag_mutex);
image_obj_ringbuf.clear();
vscan_image_ringbuf.clear();
}
return true;
} else {
return false;
}
}
void WaypointVelocityVisualizer::resetBuffers()
{
current_pose_buf_.clear();
current_twist_buf_.clear();
command_twist_buf_.clear();
}
bool publish() {
if (buf_flag) {
//image_obj_ranged is empty
if (image_obj_ranged_ringbuf.begin() == image_obj_ranged_ringbuf.end()) {
ROS_INFO("image_obj_ranged ring buffer is empty");
return false;
}
//image_raw is empty
if (image_raw_ringbuf.begin() == image_raw_ringbuf.end()) {
ROS_INFO("image_raw ring buffer is empty");
return false;
}
// image_obj_ranged > image_raw
if (get_time(&(image_obj_ranged_ringbuf.front().header)) >= get_time(&(image_raw_ringbuf.front().header))) {
p_image_raw_buf = &(image_raw_ringbuf.front());
boost::circular_buffer<cv_tracker::image_obj_ranged>::iterator it = image_obj_ranged_ringbuf.begin();
if (image_obj_ranged_ringbuf.size() == 1) {
p_image_obj_ranged_buf = &*it;
publish_msg(p_image_obj_ranged_buf, p_image_raw_buf);
if (image_obj_tracked_flag == true){
buf_flag = false;
image_obj_tracked_flag = false;
image_obj_ranged_ringbuf.clear();
image_raw_ringbuf.clear();
}
return true;
} else {
for (it++; it != image_obj_ranged_ringbuf.end(); it++) {
if (fabs_time_diff(&(image_raw_ringbuf.front().header), &((it-1)->header))
< fabs_time_diff(&(image_raw_ringbuf.front().header), &(it->header))) {
p_image_obj_ranged_buf = &*(it-1);
break;
}
}
if (it == image_obj_ranged_ringbuf.end()) {
p_image_obj_ranged_buf = &(image_obj_ranged_ringbuf.back());
}
}
}
// image_obj_ranged < image_raw
else {
p_image_obj_ranged_buf = &(image_obj_ranged_ringbuf.front());
boost::circular_buffer<sensor_msgs::Image>::iterator it = image_raw_ringbuf.begin();
if (image_raw_ringbuf.size() == 1) {
p_image_raw_buf = &*it;
publish_msg(p_image_obj_ranged_buf, p_image_raw_buf);
if (image_obj_tracked_flag == true){
buf_flag = false;
image_obj_tracked_flag = false;
image_obj_ranged_ringbuf.clear();
image_raw_ringbuf.clear();
}
return true;
}
for (it++; it != image_raw_ringbuf.end(); it++) {
if (fabs_time_diff(&(image_obj_ranged_ringbuf.front().header), &((it-1)->header))
< fabs_time_diff(&(image_obj_ranged_ringbuf.front().header), &(it->header))) {
p_image_raw_buf = &*(it-1);
break;
}
}
if (it == image_raw_ringbuf.end()) {
p_image_raw_buf = &(image_raw_ringbuf.back());
}
}
publish_msg(p_image_obj_ranged_buf, p_image_raw_buf);
if (image_obj_tracked_flag == true){
buf_flag = false;
image_obj_tracked_flag = false;
image_obj_ranged_ringbuf.clear();
image_raw_ringbuf.clear();
}
return true;
} else {
return false;
}
}
void callback(const sensor_msgs::ImageConstPtr &img,
const sensor_msgs::CameraInfoConstPtr &info) {
boost::mutex::scoped_lock lock(mutex_);
ros::Time now = ros::Time::now();
static boost::circular_buffer<double> in_times(100);
static boost::circular_buffer<double> out_times(100);
static boost::circular_buffer<double> in_bytes(100);
static boost::circular_buffer<double> out_bytes(100);
ROS_DEBUG("resize: callback");
if ( !publish_once_ || cp_.getNumSubscribers () == 0 ) {
ROS_DEBUG("resize: number of subscribers is 0, ignoring image");
return;
}
in_times.push_front((now - last_subscribe_time_).toSec());
in_bytes.push_front(img->data.size());
//
try {
int width = dst_width_ ? dst_width_ : (resize_x_ * info->width);
int height = dst_height_ ? dst_height_ : (resize_y_ * info->height);
double scale_x = dst_width_ ? ((double)dst_width_)/info->width : resize_x_;
double scale_y = dst_height_ ? ((double)dst_height_)/info->height : resize_y_;
cv_bridge::CvImagePtr cv_img = cv_bridge::toCvCopy(img);
cv::Mat tmpmat(height, width, cv_img->image.type());
cv::resize(cv_img->image, tmpmat, cv::Size(width, height));
cv_img->image = tmpmat;
sensor_msgs::CameraInfo tinfo = *info;
tinfo.height = height;
tinfo.width = width;
tinfo.K[0] = tinfo.K[0] * scale_x; // fx
tinfo.K[2] = tinfo.K[2] * scale_x; // cx
tinfo.K[4] = tinfo.K[4] * scale_y; // fy
tinfo.K[5] = tinfo.K[5] * scale_y; // cy
tinfo.P[0] = tinfo.P[0] * scale_x; // fx
tinfo.P[2] = tinfo.P[2] * scale_x; // cx
tinfo.P[3] = tinfo.P[3] * scale_x; // T
tinfo.P[5] = tinfo.P[5] * scale_y; // fy
tinfo.P[6] = tinfo.P[6] * scale_y; // cy
if ( !use_messages_ || now - last_publish_time_ > period_ ) {
cp_.publish(cv_img->toImageMsg(),
boost::make_shared<sensor_msgs::CameraInfo> (tinfo));
out_times.push_front((now - last_publish_time_).toSec());
out_bytes.push_front(cv_img->image.total()*cv_img->image.elemSize());
last_publish_time_ = now;
}
} catch( cv::Exception& e ) {
ROS_ERROR("%s", e.what());
}
float duration = (now - last_rosinfo_time_).toSec();
if ( duration > 2 ) {
int in_time_n = in_times.size();
int out_time_n = out_times.size();
double in_time_mean = 0, in_time_rate = 1.0, in_time_std_dev = 0.0, in_time_max_delta, in_time_min_delta;
double out_time_mean = 0, out_time_rate = 1.0, out_time_std_dev = 0.0, out_time_max_delta, out_time_min_delta;
std::for_each( in_times.begin(), in_times.end(), (in_time_mean += boost::lambda::_1) );
in_time_mean /= in_time_n;
in_time_rate /= in_time_mean;
std::for_each( in_times.begin(), in_times.end(), (in_time_std_dev += (boost::lambda::_1 - in_time_mean)*(boost::lambda::_1 - in_time_mean) ) );
in_time_std_dev = sqrt(in_time_std_dev/in_time_n);
if ( in_time_n > 1 ) {
in_time_min_delta = *std::min_element(in_times.begin(), in_times.end());
in_time_max_delta = *std::max_element(in_times.begin(), in_times.end());
}
std::for_each( out_times.begin(), out_times.end(), (out_time_mean += boost::lambda::_1) );
out_time_mean /= out_time_n;
out_time_rate /= out_time_mean;
std::for_each( out_times.begin(), out_times.end(), (out_time_std_dev += (boost::lambda::_1 - out_time_mean)*(boost::lambda::_1 - out_time_mean) ) );
out_time_std_dev = sqrt(out_time_std_dev/out_time_n);
if ( out_time_n > 1 ) {
out_time_min_delta = *std::min_element(out_times.begin(), out_times.end());
out_time_max_delta = *std::max_element(out_times.begin(), out_times.end());
}
double in_byte_mean = 0, out_byte_mean = 0;
std::for_each( in_bytes.begin(), in_bytes.end(), (in_byte_mean += boost::lambda::_1) );
std::for_each( out_bytes.begin(), out_bytes.end(), (out_byte_mean += boost::lambda::_1) );
in_byte_mean /= duration;
out_byte_mean /= duration;
ROS_INFO_STREAM(" in bandwidth: " << std::fixed << std::setw(11) << std::setprecision(3) << in_byte_mean/1000*8
<< " Kbps rate:" << std::fixed << std::setw(7) << std::setprecision(3) << in_time_rate
<< " hz min:" << std::fixed << std::setw(7) << std::setprecision(3) << in_time_min_delta
<< " s max: " << std::fixed << std::setw(7) << std::setprecision(3) << in_time_max_delta
<< " s std_dev: "<< std::fixed << std::setw(7) << std::setprecision(3) << in_time_std_dev << "s n: " << in_time_n);
ROS_INFO_STREAM(" out bandwidth: " << std::fixed << std::setw(11) << std::setprecision(3) << out_byte_mean/1000*8
<< " kbps rate:" << std::fixed << std::setw(7) << std::setprecision(3) << out_time_rate
<< " hz min:" << std::fixed << std::setw(7) << std::setprecision(3) << out_time_min_delta
<< " s max: " << std::fixed << std::setw(7) << std::setprecision(3) << out_time_max_delta
<< " s std_dev: "<< std::fixed << std::setw(7) << std::setprecision(3) << out_time_std_dev << "s n: " << out_time_n);
in_times.clear();
in_bytes.clear();
out_times.clear();
out_bytes.clear();
last_rosinfo_time_ = now;
}
last_subscribe_time_ = now;
if(use_snapshot_) {
publish_once_ = false;
}
}
