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[tool]Improve multi_save_rgbir_node

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jj
2024-12-09 13:51:38 +08:00
parent 78a69bab64
commit a8a4ee2ae3
3 changed files with 102 additions and 37 deletions
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orbbec_camera/tools/multi_save_rgbir_node.cpp
+1 -1
View File
@@ -17,7 +17,7 @@
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<MultiCameraSubscriber>();
auto node = std::make_shared<orbbec_camera::tools::MultiCameraSubscriber>();
rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 20);
executor.add_node(node);
executor.spin();
orbbec_camera/tools/multi_save_rgbir_node.hpp
+89 -27
View File
@@ -3,11 +3,18 @@
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <std_msgs/msg/bool.hpp>
#include <filesystem>
namespace orbbec_camera {
namespace tools {
struct ImageMetadata {
std::vector<std::vector<std::string>> exposure_buffs;
std::vector<std::vector<std::string>> gain_buffs;
};
class MultiCameraSubscriber : public rclcpp::Node {
public:
@@ -61,7 +68,8 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
private:
std::mutex buffer_mutex_;
std::mutex image_mutex_;
std::mutex meta_mutex_;
void params_init() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/multisavergbir/"
@@ -72,10 +80,16 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
nlohmann::json json_data;
file >> json_data;
time_domain_= json_data["save_rgbir_params"]["time_domain"].get<std::string>();
time_domain_ =(time_domain_ == "device") ? "_d" : (time_domain_ == "global" ? "_g" : "_unknown");
image_number_ = json_data["save_rgbir_params"]["image_number"].get<std::string>();
usb_params_ = json_data["save_rgbir_params"]["usb_ports"].get<std::vector<std::string>>();
left_ir_metadata_topic_ =
json_data["save_rgbir_params"]["left_ir_metadata_topic"].get<std::vector<std::string>>();
ir_topics_ = json_data["save_rgbir_params"]["ir_topics"].get<std::vector<std::string>>();
color_topics_ = json_data["save_rgbir_params"]["color_topics"].get<std::vector<std::string>>();
color_metadata_topic_ =
json_data["save_rgbir_params"]["color_metadata_topic"].get<std::vector<std::string>>();
}
void topic_init() {
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
@@ -84,8 +98,12 @@ class MultiCameraSubscriber : public rclcpp::Node {
for (size_t i = 0; i < ir_topics_.size(); ++i) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"ir_topic: " << ir_topics_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"left_ir_metadata_topic_: " << left_ir_metadata_topic_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"color_topic: " << color_topics_[i]);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"color_metadata_topic_: " << color_metadata_topic_[i]);
rclcpp::SubscriptionOptions ir_sub_options;
ir_sub_options.callback_group = reentrant_callback_group_;
@@ -100,6 +118,12 @@ class MultiCameraSubscriber : public rclcpp::Node {
},
ir_sub_options);
auto ir_metadata_sub = this->create_subscription<orbbec_camera_msgs::msg::Metadata>(
left_ir_metadata_topic_[i], custom_qos,
[this, i](std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg) {
this->ir_meta_Callback(msg, i);
});
auto color_sub = this->create_subscription<sensor_msgs::msg::Image>(
color_topics_[i], custom_qos,
[this, i](std::shared_ptr<const sensor_msgs::msg::Image> msg) {
@@ -107,8 +131,16 @@ class MultiCameraSubscriber : public rclcpp::Node {
},
color_sub_options);
auto color_metadata_sub = this->create_subscription<orbbec_camera_msgs::msg::Metadata>(
color_metadata_topic_[i], custom_qos,
[this, i](std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg) {
this->color_meta_Callback(msg, i);
});
ir_subscribers_.push_back(ir_sub);
ir_meta_subscribers_.push_back(ir_metadata_sub);
color_subscribers_.push_back(color_sub);
color_meta_subscribers_.push_back(color_metadata_sub);
ir_image_buffers_.resize(ir_topics_.size());
color_image_buffers_.resize(ir_topics_.size());
@@ -116,6 +148,10 @@ class MultiCameraSubscriber : public rclcpp::Node {
color_current_timestamp_buffers_.resize(ir_topics_.size());
ir_timestamp_buffers_.resize(ir_topics_.size());
color_timestamp_buffers_.resize(ir_topics_.size());
left_ir_metadata_.exposure_buffs.resize(ir_topics_.size());
left_ir_metadata_.gain_buffs.resize(ir_topics_.size());
color_metadata_.exposure_buffs.resize(ir_topics_.size());
color_metadata_.gain_buffs.resize(ir_topics_.size());
callback_called_ = std::vector<bool>(ir_topics_.size(), false);
}
}
@@ -163,17 +199,21 @@ class MultiCameraSubscriber : public rclcpp::Node {
auto &color_images = color_image_buffers_[index];
auto &color_current_timestamps = color_current_timestamp_buffers_[index];
auto &color_timestamps = color_timestamp_buffers_[index];
auto &left_ir_meta_exposure = left_ir_metadata_.exposure_buffs[index];
auto &left_ir_meta_gain = left_ir_metadata_.gain_buffs[index];
auto &color_meta_exposure = color_metadata_.exposure_buffs[index];
auto &color_meta_gain = color_metadata_.gain_buffs[index];
callback_called_[index] = true;
if (ir_images.size() < static_cast<size_t>(std::stoi(image_number_)) ||
color_images.size() < static_cast<size_t>(std::stoi(image_number_))) {
return;
}
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "jjjjj1");
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "index:"<<index);
auto usb_iter = usb_index_map_.find(usb_numbers_[index]);
auto serial_iter = serial_numbers_.find(usb_numbers_[index]);
int usb_index = usb_iter->second;
if (serial_iter == serial_numbers_.end()) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "jjjjj2");
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "serial_iter is empty");
return;
}
std::string serial_index = serial_iter->second;
@@ -181,46 +221,42 @@ class MultiCameraSubscriber : public rclcpp::Node {
for (size_t i = 0; i < static_cast<size_t>(std::stoi(image_number_)); i++) {
std::string folder = generateFolderName(serial_index, usb_index);
std::string ir_filename = folder + "/ir#left_SN" + serial_index + "_Index" +
std::to_string(usb_index) + "_d" + ir_current_timestamps[i] + "_f" +
std::to_string(i) + "_s" + ir_timestamps[i] + "_.jpg";
std::to_string(usb_index) + time_domain_ + ir_current_timestamps[i] + "_f" +
std::to_string(i) + "_s" + ir_timestamps[i] + "_e" +
left_ir_meta_exposure[i] + "_g" + left_ir_meta_gain[i] + "_.jpg";
if (ir_images[i].empty()) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "over ");
// rclcpp::shutdown();
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
continue;
}
cv::imwrite(ir_filename, ir_images[i]);
// RCLCPP_INFO(this->get_logger(), "Saved IR image to: %s", ir_filename.c_str());
std::string color_filename = folder + "/color_SN" + serial_index + "_Index" +
std::to_string(usb_index) + "_d" + color_current_timestamps[i] +
"_f" + std::to_string(i) + "_s" + color_timestamps[i] + "_.jpg";
if (ir_images[i].empty()) {
// rclcpp::shutdown();
std::to_string(usb_index) + time_domain_ + color_current_timestamps[i] +
"_f" + std::to_string(i) + "_s" + color_timestamps[i] + "_e" +
color_meta_exposure[i] + "_g" + color_meta_gain[i] +"_.jpg";
if (color_images[i].empty()) {
continue;
}
cv::imwrite(color_filename, color_images[i]);
// RCLCPP_INFO(this->get_logger(), "Saved Color image to: %s", color_filename.c_str());
}
ir_images.clear();
color_images.clear();
ir_current_timestamps.clear();
color_current_timestamps.clear();
ir_timestamps.clear();
color_timestamps.clear();
ir_image_buffers_[index].clear();
ir_current_timestamp_buffers_[index].clear();
ir_timestamp_buffers_[index].clear();
color_image_buffers_[index].clear();
color_current_timestamp_buffers_[index].clear();
color_timestamp_buffers_[index].clear();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
left_ir_metadata_.exposure_buffs[index].clear();
left_ir_metadata_.gain_buffs[index].clear();
color_metadata_.exposure_buffs[index].clear();
color_metadata_.gain_buffs[index].clear();
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"callback_called_ " << index << ":" << callback_called_[index]);
bool all_true =
std::all_of(callback_called_.begin(), callback_called_.end(), [](bool v) { return v; });
if (all_true) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "over ");
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
ir_image_buffers_.clear();
ir_current_timestamp_buffers_.clear();
ir_timestamp_buffers_.clear();
@@ -234,10 +270,10 @@ class MultiCameraSubscriber : public rclcpp::Node {
void controlCaptureCallback(const std_msgs::msg::Bool::SharedPtr msg) {
is_saving_images_ = msg->data;
topic_init();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "jjjj " << is_saving_images_);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "jjjj " << is_saving_images_);
}
void irCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
std::lock_guard<std::mutex> lock(buffer_mutex_);
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && is_saving_images_) {
cv::Mat ir_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
std::string current_timestamp_ir = getCurrentTimestamp(image);
@@ -246,7 +282,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
ir_current_timestamp_buffers_[index].push_back(current_timestamp_ir);
ir_timestamp_buffers_[index].push_back(timestamp_ir);
ir_resolution_ = std::to_string(image->width) + "x" + std::to_string(image->height);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
":ir: " << index << ":" << ir_image_buffers_[index].size());
if (ir_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_)) &&
color_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_))) {
@@ -254,9 +290,8 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
}
}
void colorCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
std::lock_guard<std::mutex> lock(buffer_mutex_);
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && is_saving_images_) {
cv::Mat color_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
cv::Mat corrected_image;
@@ -267,7 +302,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
color_current_timestamp_buffers_[index].push_back(current_timestamp_color);
color_timestamp_buffers_[index].push_back(timestamp_color);
color_resolution_ = std::to_string(image->width) + "x" + std::to_string(image->height);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
":color: " << index << ":" << color_image_buffers_[index].size());
if (ir_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_)) &&
color_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_))) {
@@ -276,7 +311,26 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
}
void ir_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
left_ir_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());
left_ir_metadata_.gain_buffs[index].push_back(json_data["gain"].dump());
}
void color_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
color_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());
color_metadata_.gain_buffs[index].push_back(json_data["gain"].dump());
}
rclcpp::CallbackGroup::SharedPtr reentrant_callback_group_;
std::vector<rclcpp::Subscription<orbbec_camera_msgs::msg::Metadata>::SharedPtr>
ir_meta_subscribers_;
std::vector<rclcpp::Subscription<orbbec_camera_msgs::msg::Metadata>::SharedPtr>
color_meta_subscribers_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> ir_subscribers_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> color_subscribers_;
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr capture_control_sub_;
@@ -289,9 +343,12 @@ class MultiCameraSubscriber : public rclcpp::Node {
size_t count = 0;
std::vector<std::string> usb_params_;
std::vector<std::string> left_ir_metadata_topic_;
std::vector<std::string> color_metadata_topic_;
std::vector<std::string> ir_topics_;
std::vector<std::string> color_topics_;
std::string image_number_;
std::string time_domain_;
std::vector<std::vector<cv::Mat>> ir_image_buffers_;
std::vector<std::vector<cv::Mat>> color_image_buffers_;
@@ -307,4 +364,9 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::string currenttimes_;
bool is_saving_images_ = false;
ImageMetadata left_ir_metadata_ = ImageMetadata();
ImageMetadata color_metadata_ = ImageMetadata();
};
} // namespace tools
} // namespace orbbec_camera