tami/MYNT-EYE-S-SDK
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perf(*): node frame skip fix.

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This commit is contained in:
TinyO 2019-09-20 15:43:07 +08:00
parent 8d780caef9
commit 65d0aa3222
2 changed files with 33 additions and 0 deletions
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1
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -89,6 +89,7 @@
<rosparam file="$(find mynt_eye_ros_wrapper)/config/mesh/mesh.yaml" command="load" />
<param name="gravity" value="$(arg gravity)" />
<!-- <param name="ros_output_framerate_cut" value="2" /> -->
</node>
<!-- disable compressed depth plugin for image topics -->

32
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -44,6 +44,7 @@
using namespace configuru; // NOLINT
#define PIE 3.1416
#define MATCH_CHECK_THRESHOLD 3
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
@ -710,6 +711,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
skip_tmp_left_tag--;
return;
}
if (left_timestamps.size() < MATCH_CHECK_THRESHOLD) {
left_timestamps.insert(left_timestamps.begin(), data.img->timestamp);
} else {
left_timestamps.insert(left_timestamps.begin(), data.img->timestamp);
left_timestamps.pop_back();
}
}
publishCamera(Stream::LEFT, data, left_count_, stamp);
publishMono(Stream::LEFT, data, left_count_, stamp);
@ -742,6 +749,29 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
skip_tmp_right_tag--;
return;
}
if (right_timestamps.size() < MATCH_CHECK_THRESHOLD) {
right_timestamps.insert(right_timestamps.begin(), data.img->timestamp);
} else {
right_timestamps.insert(right_timestamps.begin(), data.img->timestamp);
right_timestamps.pop_back();
bool is_match = false;
for (size_t i = 0; i < right_timestamps.size(); i++) {
for (size_t j = 0; j < left_timestamps.size(); j++) {
if (right_timestamps[i] == left_timestamps[j]) {
is_match = true;
break;
}
}
if (is_match) {
break;
}
}
if (!is_match) {
std::cout << "find the output stamp can't matched try to fix with one skip step." << std::endl;
skip_tmp_right_tag++;
}
}
}
publishCamera(Stream::RIGHT, data, right_count_, stamp);
publishMono(Stream::RIGHT, data, right_count_, stamp);
@ -1667,6 +1697,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
double mesh_rotation_x;
double mesh_rotation_y;
double mesh_rotation_z;
std::vector<int64_t> left_timestamps;
std::vector<int64_t> right_timestamps;
std::uint64_t unit_hard_time = std::numeric_limits<std::uint32_t>::max();
};