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add downsample_rate param and use image header header time. #274 #947

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add downsample_rate param and use image header header time. #274 #947

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e165cfe
add downsample_rate param
mishra39 Feb 21, 2024
7bc03c4
Merge branch 'rolling' into add_downsampling_rate_param_fix_sec_per_f…
ahcorde Aug 20, 2024
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1 change: 1 addition & 0 deletions image_view/include/image_view/extract_images_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ class ExtractImagesNode
int count_;
rclcpp::Time _time;
double sec_per_frame_;
double downsample_rate_;

void image_cb(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
};
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16 changes: 12 additions & 4 deletions image_view/src/extract_images_node.cpp
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Expand Up @@ -67,7 +67,7 @@ namespace image_view

ExtractImagesNode::ExtractImagesNode(const rclcpp::NodeOptions & options)
: rclcpp::Node("extract_images_node", options),
filename_format_(""), count_(0), _time(this->now())
filename_format_(""), count_(0), _time(0.0)
{
// For compressed topics to remap appropriately, we need to pass a
// fully expanded and remapped topic name to image_transport
Expand Down Expand Up @@ -96,6 +96,14 @@ ExtractImagesNode::ExtractImagesNode(const rclcpp::NodeOptions & options)
this->declare_parameter<std::string>("filename_format", std::string("frame%04i.jpg"));
filename_format_ = this->get_parameter("filename_format").as_string();

this->declare_parameter<double>("downsample_rate", 1.0);
downsample_rate_ = this->get_parameter("downsample_rate").as_double();

if (downsample_rate_ < 1.0) {
RCLCPP_WARN(
this->get_logger(), "extract_images: downsample_rate < 1 does not make any sense.");
}

this->declare_parameter<double>("sec_per_frame", 0.1);
sec_per_frame_ = this->get_parameter("sec_per_frame").as_double();

Expand All @@ -122,10 +130,10 @@ void ExtractImagesNode::image_cb(const sensor_msgs::msg::Image::ConstSharedPtr &
RCLCPP_ERROR(this->get_logger(), "Unable to convert %s image to bgr8", msg->encoding.c_str());
}

rclcpp::Duration delay = this->now() - _time;
double delay = msg->header.stamp.sec - _time.seconds();

if (delay.seconds() >= sec_per_frame_) {
_time = this->now();
if (delay >= downsample_rate_ * sec_per_frame_) {
_time = msg->header.stamp;

if (!image.empty()) {
std::string filename = string_format(filename_format_, count_);
Expand Down