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add frame loss judgment but service switch color or depth does not work

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jj
2024-10-21 14:46:31 +08:00
parent 0ad2053a06
commit b1d5b8ae18
4 changed files with 65 additions and 131 deletions
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orbbec_camera/tools/multi_save_rgbir_node.hpp
+46 -115
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@@ -24,10 +24,10 @@ class MultiCameraSubscriber : public rclcpp::Node {
int vid = device_info->vid();
int pid = device_info->pid();
serial_numbers_[usb_port] = serial;
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);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":usb_port: " << usb_port);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":usb_port: " << usb_port);
color_frame_counters_[count] = 0;
ir_frame_counters_[count] = 0;
count++;
@@ -43,19 +43,17 @@ class MultiCameraSubscriber : public rclcpp::Node {
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>());
this->declare_parameter<std::vector<std::string>>("usb_ports", std::vector<std::string>());
this->declare_parameter<std::string>("image_number", "100");
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();
std::vector<std::string> usb_params_ = this->get_parameter("usb_ports").as_string_array();
image_number_ = this->get_parameter("image_number").as_string();
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
for (size_t i = 0; i < usb_params_.size(); i++) {
usb_numbers_[i] = usb_params_[i];
usb_index_map_[usb_params_[i]] = i;
}
reentrant_callback_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
for (const auto &pair : serial_numbers_) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"usb_port: " << pair.first << ", serial: " << pair.second);
@@ -71,48 +69,37 @@ class MultiCameraSubscriber : public rclcpp::Node {
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"color_topic: " << color_topics_[i]);
rclcpp::SubscriptionOptions ir_sub_options;
ir_sub_options.callback_group = reentrant_callback_group_;
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());
rclcpp::SubscriptionOptions color_sub_options;
color_sub_options.callback_group = reentrant_callback_group_;
ir_sub->registerCallback([this, i](const sensor_msgs::msg::Image::ConstSharedPtr &msg) {
this->irCallback(msg, i);
});
auto ir_sub = this->create_subscription<sensor_msgs::msg::Image>(
ir_topics_[i], custom_qos,
[this, i](const sensor_msgs::msg::Image::ConstSharedPtr &msg) {
this->irCallback(msg, i);
},
ir_sub_options);
auto color_sub = this->create_subscription<sensor_msgs::msg::Image>(
color_topics_[i], custom_qos,
[this, i](const sensor_msgs::msg::Image::ConstSharedPtr &msg) {
this->colorCallback(msg, i);
},
color_sub_options);
color_sub->registerCallback([this, i](const sensor_msgs::msg::Image::ConstSharedPtr &msg) {
this->colorCallback(msg, i);
});
ir_subscribers_.push_back(ir_sub);
color_subscribers_.push_back(color_sub);
ir_image_buffers_.emplace_back();
color_image_buffers_.emplace_back();
ir_current_timestamp_buffers_.emplace_back();
color_current_timestamp_buffers_.emplace_back();
ir_timestamp_buffers_.emplace_back();
color_timestamp_buffers_.emplace_back();
}
}
private:
std::string generateFolderName(const std::string &serial_number, size_t serial_index) {
std::string generateFolderName(const sensor_msgs::msg::Image::ConstSharedPtr &color_msg,
const std::string &serial_number, size_t serial_index) {
std::string color_resolution =
std::to_string(color_msg->width) + "x" + std::to_string(color_msg->height);
std::string color_encoding = color_msg->encoding;
std::string frame_rate = "30fps";
std::string folder_name = "Star-AE-OFF-ir-" + ir_resolution + "-" + "y8" + "-rgb-" +
std::string folder_name = "Star-AE-OFF-ir-" + color_resolution + "-" + "y8" + "-rgb-" +
color_resolution + "-" + "mjpg" + "-" + frame_rate;
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;
}
@@ -134,87 +121,44 @@ class MultiCameraSubscriber : public rclcpp::Node {
return timestamp.str();
}
void saveAlignedImages(size_t index) {
images_saved_ = true;
auto &ir_images = ir_image_buffers_[index];
auto &ir_current_timestamps = ir_current_timestamp_buffers_[index];
auto &ir_timestamps = ir_timestamp_buffers_[index];
auto &color_images = color_image_buffers_[index];
auto &color_current_timestamps = color_current_timestamp_buffers_[index];
auto &color_timestamps = color_timestamp_buffers_[index];
if (ir_images.size() < static_cast<size_t>(std::stoi(image_number_)) ||
color_images.size() < static_cast<size_t>(std::stoi(image_number_))) {
return;
}
void irCallback(const sensor_msgs::msg::Image::ConstSharedPtr &image, size_t 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;
std::string serial_index = serial_iter->second;
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";
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";
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();
rclcpp::shutdown();
}
void irCallback(const sensor_msgs::msg::Image::ConstSharedPtr &image, size_t index) {
cv::Mat ir_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
std::string current_timestamp_ir = getCurrentTimestamp(image);
std::string timestamp_ir = getTimestamp();
ir_image_buffers_[index].push_back(ir_mat);
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);
if (!images_saved_ &&
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_))) {
saveAlignedImages(index);
}
std::string timestamp_ir = getCurrentTimestamp(image);
size_t frame_index = ir_frame_counters_[index]++;
std::string folder = generateFolderName(image, serial_index, usb_index);
std::string filename = folder + "/ir#left_SN" + serial_index + "_Index" +
std::to_string(usb_index) + "_d" + timestamp_ir + "_f" +
std::to_string(frame_index) + "_s" + getTimestamp() + "_.jpg";
cv::imwrite(filename, ir_mat);
RCLCPP_INFO(this->get_logger(), "Saved IR image for camera to: %s", filename.c_str());
}
void colorCallback(const sensor_msgs::msg::Image::ConstSharedPtr &image, size_t 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;
std::string serial_index = serial_iter->second;
cv::Mat color_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
cv::Mat corrected_image;
cv::cvtColor(color_mat, corrected_image, cv::COLOR_RGB2BGR);
std::string current_timestamp_color = getCurrentTimestamp(image);
std::string timestamp_color = getTimestamp();
color_image_buffers_[index].push_back(corrected_image);
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);
if (!images_saved_ &&
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_))) {
saveAlignedImages(index);
}
std::string timestamp_color = getCurrentTimestamp(image);
size_t frame_index = color_frame_counters_[index]++;
std::string folder = generateFolderName(image, serial_index, usb_index);
std::string filename = folder + "/color_SN" + serial_index + "_Index" +
std::to_string(usb_index) + "_d" + timestamp_color + "_f" +
std::to_string(frame_index) + "_s" + getTimestamp() + "_.jpg";
cv::imwrite(filename, corrected_image);
RCLCPP_INFO(this->get_logger(), "Saved Color image for camera to: %s", filename.c_str());
}
rclcpp::CallbackGroup::SharedPtr reentrant_callback_group_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> ir_subscribers_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> color_subscribers_;
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_;
std::map<std::string, int> usb_index_map_;
std::map<std::string, std::string> serial_numbers_;
@@ -226,17 +170,4 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::vector<std::string> usb_params_;
std::vector<std::string> ir_topics_;
std::vector<std::string> color_topics_;
std::string image_number_;
std::vector<std::vector<cv::Mat>> ir_image_buffers_;
std::vector<std::vector<cv::Mat>> color_image_buffers_;
std::vector<std::vector<std::string>> ir_current_timestamp_buffers_;
std::vector<std::vector<std::string>> color_current_timestamp_buffers_;
std::vector<std::vector<std::string>> ir_timestamp_buffers_;
std::vector<std::vector<std::string>> color_timestamp_buffers_;
std::string color_resolution;
std::string ir_resolution;
bool images_saved_;
};