void image_obj_ranged_callback(const cv_tracker::image_obj_ranged::ConstPtr& image_obj_ranged_msg) {
pthread_mutex_lock(&mutex);
image_obj_ranged_ringbuf.push_front(*image_obj_ranged_msg);
//image_raw is empty
if (image_raw_ringbuf.begin() == image_raw_ringbuf.end()) {
pthread_mutex_unlock(&mutex);
ROS_INFO("image_raw ring buffer is empty");
return;
}
buf_flag = true;
// image_obj_ranged > image_raw
if (get_time(&(image_obj_ranged_ringbuf.front().header)) >= get_time(&(image_raw_ringbuf.front().header))) {
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) {
image_obj_ranged_buf = *it;
pthread_mutex_unlock(&mutex);
return;
} 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))) {
image_obj_ranged_buf = *(it-1);
break;
}
}
if (it == image_obj_ranged_ringbuf.end()) {
image_obj_ranged_buf = image_obj_ranged_ringbuf.back();
}
}
} else {
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) {
image_raw_buf = *it;
pthread_mutex_unlock(&mutex);
return;
}
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))) {
image_raw_buf = *(it-1);
break;
}
}
if (it == image_raw_ringbuf.end()) {
image_raw_buf = image_raw_ringbuf.back();
}
}
pthread_mutex_unlock(&mutex);
}
void image_obj_callback(const autoware_msgs::image_obj::ConstPtr& image_obj_msg) {
pthread_mutex_lock(&mutex);
image_obj_ringbuf.push_front(*image_obj_msg);
//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;
}
buf_flag = true;
// image_obj > vscan_image
if (get_time(&(image_obj_ringbuf.front().header)) >= get_time(&(vscan_image_ringbuf.front().header))) {
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) {
image_obj_buf = *it;
pthread_mutex_unlock(&mutex);
return;
} 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))) {
image_obj_buf = *(it-1);
break;
}
}
if (it == image_obj_ringbuf.end()) {
image_obj_buf = image_obj_ringbuf.back();
}
}
} else {
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) {
vscan_image_buf = *it;
pthread_mutex_unlock(&mutex);
return;
}
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))) {
vscan_image_buf = *(it-1);
break;
}
}
if (it == vscan_image_ringbuf.end()) {
vscan_image_buf = vscan_image_ringbuf.back();
}
}
pthread_mutex_unlock(&mutex);
}
void vscan_image_callback(const autoware_msgs::PointsImage::ConstPtr& vscan_image_msg) {
pthread_mutex_lock(&mutex);
vscan_image_ringbuf.push_front(*vscan_image_msg);
//image_obj is empty
if (image_obj_ringbuf.begin() == image_obj_ringbuf.end()) {
ROS_INFO("image_obj ring buffer is empty");
buf_flag = false;
pthread_mutex_unlock(&mutex);
return;
}
buf_flag = true;
pthread_mutex_unlock(&mutex);
if (image_obj_ranged_flag == true) {
publish();
}
}
void image_obj_callback(const autoware_msgs::image_obj::ConstPtr& image_obj_msg) {
pthread_mutex_lock(&mutex);
image_obj_ringbuf.push_front(*image_obj_msg);
//vscan_image is empty
if (vscan_image_ringbuf.begin() == vscan_image_ringbuf.end()) {
ROS_INFO("vscan_image ring buffer is empty");
buf_flag = false;
pthread_mutex_unlock(&mutex);
return;
}
buf_flag = true;
pthread_mutex_unlock(&mutex);
if (image_obj_ranged_flag == true) {
publish();
}
}
void image_raw_callback(const sensor_msgs::Image::ConstPtr& image_raw_msg) {
pthread_mutex_lock(&mutex);
image_raw_ringbuf.push_front(*image_raw_msg);
//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");
buf_flag = false;
pthread_mutex_unlock(&mutex);
return;
}
buf_flag = true;
pthread_mutex_unlock(&mutex);
pthread_mutex_lock(&mutex);
if (image_obj_tracked_flag == true) {
publish();
}
pthread_mutex_unlock(&mutex);
}
void CSearchDialog::SaveEntry(int comboBoxId, boost::circular_buffer<std::wstring> &buffer)
{
TCHAR entry[MAX_PATH];
GetDlgItemText(m_hDlg, comboBoxId, entry, SIZEOF_ARRAY(entry));
std::wstring strEntry(entry);
auto itr = std::find_if(buffer.begin(), buffer.end(),
[strEntry] (const std::wstring Pattern)
{
return Pattern.compare(strEntry) == 0;
});
HWND hComboBox = GetDlgItem(m_hDlg, comboBoxId);
ComboBox_SetCurSel(hComboBox, -1);
if(itr != buffer.end())
{
/* Remove the current element from both the list and the
combo box. It will be reinserted at the front of both below. */
auto index = std::distance(buffer.begin(), itr);
SendMessage(hComboBox, CB_DELETESTRING, index, 0);
buffer.erase(itr);
}
buffer.push_front(entry);
SendMessage(hComboBox, CB_INSERTSTRING, 0, reinterpret_cast<LPARAM>(entry));
ComboBox_SetCurSel(hComboBox, 0);
ComboBox_SetEditSel(hComboBox, -1, -1);
if(ComboBox_GetCount(hComboBox) > buffer.capacity())
{
SendMessage(hComboBox, CB_DELETESTRING, ComboBox_GetCount(hComboBox) - 1, 0);
}
}
void ShowFrameDurationPlot() {
Vec2i windowSize = mainApp->getWindow()->getSize();
size_t maxSamples = size_t(windowSize.x);
if(maxSamples != frameDurationPlotValues.capacity()) {
frameDurationPlotValues.set_capacity(maxSamples);
}
if(maxSamples != frameDurationPlotVertices.size()) {
frameDurationPlotVertices.resize(maxSamples);
}
GRenderer->ResetTexture(0);
frameDurationPlotValues.push_front(toMs(g_platformTime.lastFrameDuration()));
float avg = std::accumulate(frameDurationPlotValues.begin(), frameDurationPlotValues.end(), 0.f) / frameDurationPlotValues.size();
float worst = *std::max_element(frameDurationPlotValues.begin(), frameDurationPlotValues.end());
const float OFFSET_Y = 80.f;
const float SCALE_Y = 4.0f;
for(size_t i = 0; i < frameDurationPlotValues.size(); ++i)
{
float time = frameDurationPlotValues[i];
frameDurationPlotVertices[i].color = Color::white.toRGB();
frameDurationPlotVertices[i].p.x = i;
frameDurationPlotVertices[i].p.y = OFFSET_Y + (time * SCALE_Y);
frameDurationPlotVertices[i].p.z = 1.0f;
frameDurationPlotVertices[i].w = 1.0f;
}
EERIEDRAWPRIM(Renderer::LineStrip, &frameDurationPlotVertices[0], frameDurationPlotValues.size());
Color avgColor = Color::blue * 0.5f + Color::white * 0.5f;
float avgPos = OFFSET_Y + (avg * SCALE_Y);
drawLine(Vec2f(0, avgPos), Vec2f(windowSize.x, avgPos), 1.0f, Color::blue);
Color worstColor = Color::red * 0.5f + Color::white * 0.5f;
float worstPos = OFFSET_Y + (worst * SCALE_Y);
drawLine(Vec2f(0, worstPos), Vec2f(windowSize.x, worstPos), 1.0f, Color::red);
Font * font = hFontDebug;
float lineOffset = font->getLineHeight() + 2;
std::string labels[3] = { "Average: ", "Worst: ", "Current: " };
Color colors[3] = { avgColor, worstColor, Color::white };
float values[3] = { avg, worst, frameDurationPlotValues[0] };
std::string texts[3];
float widths[3];
static float labelWidth = 0.f;
static float valueWidth = 0.f;
for(size_t i = 0; i < 3; i++) {
// Format value
std::ostringstream oss;
oss << std::fixed << std::setprecision(2) << values[i] << " ms ("<< 1.f / (values[i] * 0.001f) << " FPS)";
texts[i] = oss.str();
// Calculate widths (could be done more efficiently for monospace fonts...)
labelWidth = std::max(labelWidth, float(font->getTextSize(labels[i]).width()));
widths[i] = font->getTextSize(texts[i]).width();
valueWidth = std::max(valueWidth, widths[i]);
}
float x = 10;
float y = 10;
float xend = x + labelWidth + 10 + valueWidth;
for(size_t i = 0; i < 3; i++) {
font->draw(Vec2i(x, y), labels[i], Color::gray(0.8f));
font->draw(Vec2i(xend - widths[i], y), texts[i], colors[i]);
y += lineOffset;
}
}
void push_front(ros::Time sensor_time, ros::Time execution_time) {
sensor.push_front(sensor_time);
execution.push_front(execution_time);
}
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;
}
}
void utmCallback(const msgs::gpgga_utm::ConstPtr& msg)
{
static tf::TransformBroadcaster odom_broadcaster;
if(msg->hdop < 2 && utm_settled == false)
{
utm_settled_count++;
if(utm_settled_count >= utm_settled_count_top)
{
utm_settled = true;
ref_fix = *msg;
prev_msg = *msg;
}
}
else if(utm_settled)
{
gps_points_t p;
p.x = msg->utm_e;
p.y = msg->utm_n;
gps_points_buffer.push_front(p);
odom.header.stamp = ros::Time::now();
odom.header.frame_id =frame_id;
odom.child_frame_id = child_frame_id;
if(publish_relative){
odom.pose.pose.position.x = -(ref_fix.utm_e - msg->utm_e);
odom.pose.pose.position.y = -(ref_fix.utm_n - msg->utm_n);
}
else
{
// ENU
odom.pose.pose.position.x =msg->utm_e;
odom.pose.pose.position.y =msg->utm_n;
}
odom.pose.pose.position.z = 0;
static double yaw=0;
if(calculate_heading(yaw))
{
odom.pose.covariance[35] = heading_variance;
}
else
{
odom.pose.covariance[35] = 999999;
}
// publish the transform message
odom_trans.header.stamp = ros::Time::now();
odom_trans.header.frame_id = tf_frame_id;
odom_trans.child_frame_id = tf_child_frame_id;
odom_trans.transform.translation.x = odom.pose.pose.position.x;
odom_trans.transform.translation.y = odom.pose.pose.position.y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(yaw);
odom_broadcaster.sendTransform(odom_trans);
odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
odom.pose.covariance[0] = msg->hdop * gps_variance;
odom.pose.covariance[7] = msg->hdop * gps_variance;
odom.pose.covariance[14] = 999999;
odom.pose.covariance[21] = 999999;
odom.pose.covariance[28] = 999999;
odom_pub.publish(odom);
prev_msg = *msg;
}
}
void push_back( QList<QConsoleWidgetCommand> cmd ){
commandBuffers.push_front(cmd);
resetIndex();
}