[video_recorder] Add timer to record low fps video at the correct speed #600
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JWhitleyWork
requested changes
Oct 8, 2020
| outputVideo << image; | ||
| ROS_INFO_STREAM("Recording frame " << g_count << "\x1b[1F"); | ||
| g_count++; | ||
| g_last_wrote_time = stamp; |
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This is no longer true. The timestamp of the last-received image can no longer be considered close enough to the actual time that the frame was written. Use ros::Time::now() instead.
| @@ -70,7 +72,8 @@ void callback(const sensor_msgs::ImageConstPtr& image_msg) | |||
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| } | |||
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| if ((image_msg->header.stamp - g_last_wrote_time) < ros::Duration(1.0 / fps)) | |||
| stamp = image_msg->header.stamp; | |||
| if ((stamp - g_last_wrote_time) < ros::Duration(1.0 / fps)) | |||
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This change is unnecessary given my other comment.
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Thank you for your review. I followed your advice and use |
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Without this pull request, when we record video with lower fps than
fpsrosparam, the output video will be fast and shortened.For example, if we set
fpsrosparam as 15 but inputsensor_msgs::Imagetopic's hz is 5 and we record video for 30 seconds, the output video is only 10 seconds and 3x speed.This pull request solves the above problem by using timer callback and outputting video at regular intervals.