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delete multi_save

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This commit is contained in:
jj
2024-09-18 17:13:05 +08:00
parent 4b79760c11
commit 8b6bdfcd5d
3 changed files with 0 additions and 250 deletions
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orbbec_camera/CMakeLists.txt
-2
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@@ -214,7 +214,6 @@ add_orbbec_executable(list_depth_work_mode_node tools/list_depth_work_mode.cpp)
add_orbbec_executable(list_camera_profile_mode_node tools/list_camera_profile.cpp)
add_orbbec_executable(topic_statistics_node tools/topic_statistics.cpp)
add_orbbec_executable(multi_save_rgbir_node tools/multi_save_rgbir_node.cpp)
# Install rules
install(TARGETS ${PROJECT_NAME}
@@ -240,7 +239,6 @@ install(TARGETS list_devices_node
list_depth_work_mode_node
list_camera_profile_mode_node
topic_statistics_node
multi_save_rgbir_node
DESTINATION lib/${PROJECT_NAME}/)
if (BUILD_TESTING)
orbbec_camera/tools/multi_save_rgbir_node.cpp
-24
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@@ -1,24 +0,0 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include "multi_save_rgbir_node.hpp"
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<MultiCameraSubscriber>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
orbbec_camera/tools/multi_save_rgbir_node.hpp
-224
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@@ -1,224 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <filesystem>
class MultiCameraSubscriber : public rclcpp::Node {
public:
MultiCameraSubscriber() : Node("multi_camera_subscriber") {
// 初始化 context，获取设备信息
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
int vid = device_info->vid();
int pid = device_info->pid();
serial_numbers[count] = serial;
count++;
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
}
// 声明 ir 和 color 图像话题参数
this->declare_parameter<std::vector<std::string>>("ir_topics", std::vector<std::string>());
this->declare_parameter<std::vector<std::string>>("color_topics", std::vector<std::string>());
std::vector<std::string> ir_topics = this->get_parameter("ir_topics").as_string_array();
std::vector<std::string> color_topics = this->get_parameter("color_topics").as_string_array();
rclcpp::QoS custom_qos = rclcpp::QoS(rclcpp::KeepLast(10)).best_effort();
// 动态创建 ir 和 color 订阅器
for (size_t i = 0; i < ir_topics.size(); ++i) {
auto ir_sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
this, ir_topics[i], custom_qos.get_rmw_qos_profile());
auto color_sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
this, color_topics[i], custom_qos.get_rmw_qos_profile());
ir_subscribers.push_back(ir_sub);
color_subscribers.push_back(color_sub);
}
// 动态生成同步器
setupSynchronizer(ir_topics.size());
}
private:
std::string generateFolderName(const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg,
const std::string &serial_number, size_t serial_index) {
std::string ir_resolution =
std::to_string(ir_msg->width) + "x" + std::to_string(ir_msg->height);
std::string ir_encoding = ir_msg->encoding;
std::string color_resolution =
std::to_string(color_msg->width) + "x" + std::to_string(color_msg->height);
std::string color_encoding = color_msg->encoding;
// 假设帧率为 60fps（可以根据实际情况修改）
std::string frame_rate = "60fps";
// 生成符合格式的文件夹名称
std::string folder_name = "Star-AE-OFF-ir-" + ir_resolution + "-" + ir_encoding + "-rgb-" +
color_resolution + "-" + color_encoding + "-" + frame_rate;
// 创建文件夹
std::string path = std::string("multicamera_sync/output/") + folder_name + "/" +
"TotalModeFrames/" + "/" + "SN" + serial_number + "_Index" +
std::to_string(serial_index);
std::filesystem::create_directories(path);
return path;
}
std::string getCurrentTimestamp() {
auto now = this->get_clock()->now();
int64_t seconds = now.seconds();
int64_t nanoseconds = now.nanoseconds() % 1000000000;
int64_t milliseconds = nanoseconds / 100000;
return std::to_string(seconds) + std::to_string(milliseconds);
}
// 根据传入的图像话题数量动态生成同步器
// 根据传入的图像话题数量动态生成同步器
void setupSynchronizer(size_t num_topics) {
if (num_topics == 2) {
sync_2 = std::make_shared<message_filters::Synchronizer<SyncPolicy2>>(
SyncPolicy2(10), *ir_subscribers[0], *color_subscribers[0], *ir_subscribers[1],
*color_subscribers[1]);
sync_2->registerCallback(std::bind(static_cast<void (MultiCameraSubscriber::*)(
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &)>(
&MultiCameraSubscriber::imageCallback2),
this, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, std::placeholders::_4));
} else if (num_topics == 3) {
sync_3 = std::make_shared<message_filters::Synchronizer<SyncPolicy3>>(
SyncPolicy3(10), *ir_subscribers[0], *color_subscribers[0], *ir_subscribers[1],
*color_subscribers[1], *ir_subscribers[2], *color_subscribers[2]);
sync_3->registerCallback(std::bind(static_cast<void (MultiCameraSubscriber::*)(
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &)>(
&MultiCameraSubscriber::imageCallback3),
this, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, std::placeholders::_4,
std::placeholders::_5, std::placeholders::_6));
} else if (num_topics == 4) {
sync_4 = std::make_shared<message_filters::Synchronizer<SyncPolicy4>>(
SyncPolicy4(10), *ir_subscribers[0], *color_subscribers[0], *ir_subscribers[1],
*color_subscribers[1], *ir_subscribers[2], *color_subscribers[2], *ir_subscribers[3],
*color_subscribers[3]);
sync_4->registerCallback(std::bind(static_cast<void (MultiCameraSubscriber::*)(
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &,
const sensor_msgs::msg::Image::ConstSharedPtr &)>(
&MultiCameraSubscriber::imageCallback4),
this, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, std::placeholders::_4,
std::placeholders::_5, std::placeholders::_6,
std::placeholders::_7, std::placeholders::_8));
}
}
// 处理 ir 和 color 图像的回调函数
void imageCallback2(const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg1,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg1) {
imageCallback({ir_msg0, color_msg0, ir_msg1, color_msg1});
}
void imageCallback3(const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg1,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg1,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg2,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg2) {
imageCallback({ir_msg0, color_msg0, ir_msg1, color_msg1, ir_msg2, color_msg2});
}
void imageCallback4(const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg0,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg1,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg1,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg2,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg2,
const sensor_msgs::msg::Image::ConstSharedPtr &ir_msg3,
const sensor_msgs::msg::Image::ConstSharedPtr &color_msg3) {
imageCallback(
{ir_msg0, color_msg0, ir_msg1, color_msg1, ir_msg2, color_msg2, ir_msg3, color_msg3});
}
// 同时处理多个 ir 和 color 图像，并将其保存到文件
void imageCallback(const std::vector<sensor_msgs::msg::Image::ConstSharedPtr> &images) {
try {
for (size_t i = 0; i < images.size(); i += 2) {
auto ir_image = images[i];
auto color_image = images[i + 1];
cv::Mat ir_mat = cv_bridge::toCvCopy(ir_image, ir_image->encoding)->image;
cv::Mat color_mat = cv_bridge::toCvCopy(color_image, color_image->encoding)->image;
cv::Mat corrected_image;
cv::cvtColor(color_mat, corrected_image, cv::COLOR_RGB2BGR);
std::string folder =
generateFolderName(ir_image, color_image, serial_numbers[i / 2], i / 2);
std::string filename_ir = folder + "/ir#left_SN" + serial_numbers[i / 2] + "_Index" +
std::to_string(i / 2) + "_d" + getCurrentTimestamp() + "_.jpg";
std::string filename_color = folder + "/color_SN" + serial_numbers[i / 2] + "_Index" +
std::to_string(i / 2) + "_d" + getCurrentTimestamp() + "_.jpg";
// 保存 ir 和 color 图像
cv::imwrite(filename_ir, ir_mat);
cv::imwrite(filename_color, corrected_image);
RCLCPP_INFO(this->get_logger(), "Saved IR and Color images for camera %zu to: %s, %s",
i / 2, filename_ir.c_str(), filename_color.c_str());
}
} catch (cv_bridge::Exception &e) {
RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
}
}
// 存储 ir 和 color 订阅器
std::vector<std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::Image>>> ir_subscribers;
std::vector<std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::Image>>>
color_subscribers;
// 为不同数量的话题生成同步策略
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::Image>
SyncPolicy2;
std::shared_ptr<message_filters::Synchronizer<SyncPolicy2>> sync_2;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::Image>
SyncPolicy3;
std::shared_ptr<message_filters::Synchronizer<SyncPolicy3>> sync_3;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::Image, sensor_msgs::msg::Image>
SyncPolicy4;
std::shared_ptr<message_filters::Synchronizer<SyncPolicy4>> sync_4;
std::array<std::string, 10> serial_numbers;
size_t count = 0;
};