void StereoNode::AcquireOnce() {
if (is_acquire() && ros::ok()) {
left_ros_->RequestSingle();
right_ros_->RequestSingle();
const auto expose_us = left_ros_->camera().GetExposeUs();
const auto expose_duration = ros::Duration(expose_us * 1e-6 / 2);
const auto time = ros::Time::now() + expose_duration;
left_ros_->PublishCamera(time);
right_ros_->PublishCamera(time);
}
}
void SingleNode::Acquire() {
while (is_acquire() && ros::ok()) {
// In external trigger mode, this request function does not have any effect.
// Hence using the time at which this function is called is not the right approach for
// the multi-cam synch. purpose.
if (flea3_ros_.RequestSingle()) {
const auto image_msg = boost::make_shared<sensor_msgs::Image>();
flea3_ros_.Grab(image_msg, nullptr);
flea3_ros_.Publish(image_msg);
Sleep();
}
}
}
void StereoNode::Acquire() {
while (is_acquire() && ros::ok()) {
if (right_ros_.RequestSingle() && left_ros_.RequestSingle()) {
const auto right_image_msg = boost::make_shared<sensor_msgs::Image>();
const auto left_image_msg = boost::make_shared<sensor_msgs::Image>();
left_ros_.Grab(left_image_msg, nullptr);
right_ros_.Grab(right_image_msg, nullptr);
right_ros_.Publish(right_image_msg);
left_ros_.Publish(left_image_msg);
Sleep();
}
}
}
