i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Split queue_size param into sync_queue_size and topic_queue_size parameters for more fine tuning of topic synchronization (#1054)

Browse Source
This commit is contained in:
matlabbe
2024-06-11 22:35:54 -07:00
parent 9ced85d5f8
commit ae44e1a215
33 changed files with 882 additions and 779 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp
+29 -16
View File
@@ -108,13 +108,26 @@ private:
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
int queueSize = 10;
int queueSize = 1;
int syncQueueSize = 10;
bool approxSync = true;
std::string roiStr;
double approxSyncMaxInterval = 0.0;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
pnh.param("queue_size", queueSize, queueSize);
pnh.param("topic_queue_size", queueSize, queueSize);
if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
{
pnh.param("queue_size", syncQueueSize, syncQueueSize);
ROS_WARN("Parameter \"queue_size\" has been renamed "
"to \"sync_queue_size\" and will be removed "
"in future versions! The value (%d) is copied to "
"\"sync_queue_size\".", syncQueueSize);
}
else
{
pnh.param("sync_queue_size", syncQueueSize, syncQueueSize);
}
pnh.param("max_depth", maxDepth_, maxDepth_);
pnh.param("min_depth", minDepth_, minDepth_);
pnh.param("voxel_size", voxelSize_, voxelSize_);
@@ -199,30 +212,30 @@ private:
if(approxSync)
{
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
approxSyncDepth_ = new message_filters::Synchronizer<MyApproxSyncDepthPolicy>(MyApproxSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
if(approxSyncMaxInterval > 0.0)
approxSyncDepth_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
approxSyncDisparity_ = new message_filters::Synchronizer<MyApproxSyncDisparityPolicy>(MyApproxSyncDisparityPolicy(syncQueueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
if(approxSyncMaxInterval > 0.0)
approxSyncDisparity_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
approxSyncStereo_ = new message_filters::Synchronizer<MyApproxSyncStereoPolicy>(MyApproxSyncStereoPolicy(syncQueueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
if(approxSyncMaxInterval > 0.0)
approxSyncStereo_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
approxSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
else
{
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(queueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_ = new message_filters::Synchronizer<MyExactSyncDepthPolicy>(MyExactSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_, cameraInfoSub_);
exactSyncDepth_->registerCallback(boost::bind(&PointCloudXYZRGB::depthCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(queueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
exactSyncDisparity_ = new message_filters::Synchronizer<MyExactSyncDisparityPolicy>(MyExactSyncDisparityPolicy(syncQueueSize), imageLeft_, imageDisparitySub_, cameraInfoLeft_);
exactSyncDisparity_->registerCallback(boost::bind(&PointCloudXYZRGB::disparityCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSyncStereo_ = new message_filters::Synchronizer<MyExactSyncStereoPolicy>(MyExactSyncStereoPolicy(syncQueueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSyncStereo_->registerCallback(boost::bind(&PointCloudXYZRGB::stereoCallback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
@@ -235,9 +248,9 @@ private:
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), queueSize, hintsRgb);
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), queueSize, hintsDepth);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", queueSize);
ros::NodeHandle left_nh(nh, "left");
ros::NodeHandle right_nh(nh, "right");
@@ -248,12 +261,12 @@ private:
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
imageDisparitySub_.subscribe(nh, "disparity", 1);
imageDisparitySub_.subscribe(nh, "disparity", queueSize);
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
imageRight_.subscribe(right_it, right_nh.resolveName("image"), 1, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), queueSize, hintsLeft);
imageRight_.subscribe(right_it, right_nh.resolveName("image"), queueSize, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", queueSize);
cameraInfoRight_.subscribe(right_nh, "camera_info", queueSize);
}
void depthCallback(