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some configs in synced process dataset

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This commit is contained in:
hjy
2026-04-21 00:46:37 +08:00
parent 15e74322c2
commit d2a37a28dd
3 changed files with 35 additions and 3 deletions
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.gitignore
+2 -1
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@@ -1,4 +1,5 @@
recorddata/
# /config/calib.yaml
/log
/map
/map
*.pyc
launch_ROS2/odin1_reprojection_synced_ros2.launch.py
+2 -1
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@@ -19,7 +19,8 @@ def create_nodes(context):
reprojection_params.setdefault('synced_odometry_topic', '/odin1/sync/odometry')
reprojection_params.setdefault('synced_wiwc_topic', '/odin1/sync/wiwc')
reprojection_params.setdefault('synced_image_topic', '/odin1/sync/image')
reprojection_params.setdefault('synced_image_compressed', 1)
sync_camera_compressed = int(reprojection_params.get('register_keys.sync_camera_compressed', 0))
reprojection_params['synced_image_compressed'] = sync_camera_compressed
reprojection_params.setdefault('register_keys.sync_topic_prefix', '/odin1/sync')
reprojection_params['calib_file_path'] = os.path.join(package_dir, 'config', 'calib.yaml')
src/cloud_reprojection_synced_ros.cpp
+31 -1
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@@ -291,6 +291,9 @@ public:
<< "\n synced_wiwc_topic: " << synced_wiwc_topic_
<< "\n synced_image_topic: " << synced_image_topic_
<< "\n synced_image_transport: " << (synced_image_compressed_ ? "compressed" : "raw")
<< "\n always_send_sync_compressed: " << (always_send_sync_compressed_ ? "on" : "off")
<< "\n sync_image_compressed_topic: "
<< ((!synced_image_compressed_ && always_send_sync_compressed_) ? sync_image_compressed_topic_ : "<disabled>")
<< "\n output_prefix: " << sync_topic_prefix_
<< "\n overlay_compressed_topic: " << sync_overlay_image_topic_
<< "\n detection_debug_topic: " << sync_detection_debug_image_topic_
@@ -333,9 +336,11 @@ private:
std::string synced_image_topic_;
bool synced_image_compressed_ = true;
std::string sync_topic_prefix_;
std::string sync_image_compressed_topic_;
std::string combined_compressed_topic_;
int combined_jpeg_quality_ = 85;
int overlay_jpeg_quality_ = 85;
bool always_send_sync_compressed_ = false;
bool publish_combined_compressed_ = true;
bool send_overlay_ = true;
@@ -353,6 +358,7 @@ private:
rclcpp::Subscription<Image>::SharedPtr image_sub_;
rclcpp::Subscription<CompressedImage>::SharedPtr compressed_image_sub_;
rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_compressed_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr overlay_compressed_pub_;
rclcpp::Publisher<CompressedImage>::SharedPtr detection_debug_compressed_pub_;
rclcpp::Publisher<Image>::SharedPtr gallery_debug_pub_;
@@ -389,6 +395,8 @@ private:
this->declare_parameter<std::string>("synced_wiwc_topic", "/odin1/sync/wiwc");
this->declare_parameter<std::string>("synced_image_topic", "/odin1/sync/image");
this->declare_parameter<int>("synced_image_compressed", 1);
this->declare_parameter<int>("register_keys.sync_camera_compressed", 0);
this->declare_parameter<int>("register_keys.always_send_sync_compressed", 0);
this->declare_parameter<std::string>("register_keys.sync_topic_prefix", "/odin1/sync");
this->declare_parameter<std::string>("register_keys.combined_compressed_topic", "/odin1/combined_image/compressed");
this->declare_parameter<int>("register_keys.combined_jpeg_quality", 85);
@@ -436,11 +444,15 @@ private:
synced_cloud_topic_ = this->get_parameter("synced_cloud_topic").as_string();
synced_odometry_topic_ = this->get_parameter("synced_odometry_topic").as_string();
synced_wiwc_topic_ = this->get_parameter("synced_wiwc_topic").as_string();
synced_image_compressed_ = (this->get_parameter("synced_image_compressed").as_int() != 0);
synced_image_compressed_ =
(this->get_parameter("register_keys.sync_camera_compressed").as_int() != 0);
synced_image_topic_ = resolve_camera_topic(
this->get_parameter("synced_image_topic").as_string(),
synced_image_compressed_);
always_send_sync_compressed_ =
(this->get_parameter("register_keys.always_send_sync_compressed").as_int() != 0);
sync_topic_prefix_ = this->get_parameter("register_keys.sync_topic_prefix").as_string();
sync_image_compressed_topic_ = sync_topic_prefix_ + "/image/compressed";
combined_compressed_topic_ = this->get_parameter("register_keys.combined_compressed_topic").as_string();
combined_jpeg_quality_ = std::clamp<int>(
static_cast<int>(this->get_parameter("register_keys.combined_jpeg_quality").as_int()),
@@ -588,6 +600,10 @@ private:
overlay_compressed_pub_ =
this->create_publisher<CompressedImage>(sync_overlay_image_topic_, 10);
}
if (!synced_image_compressed_ && always_send_sync_compressed_) {
sync_image_compressed_pub_ =
this->create_publisher<CompressedImage>(sync_image_compressed_topic_, 10);
}
if (publish_combined_compressed_) {
combined_pub_ =
this->create_publisher<CompressedImage>(combined_compressed_topic_, 10);
@@ -748,6 +764,20 @@ private:
}
}
if (!synced_image_compressed_ && always_send_sync_compressed_ && sync_image_compressed_pub_) {
std::vector<uchar> buf;
const std::vector<int> enc_params = {cv::IMWRITE_JPEG_QUALITY, overlay_jpeg_quality_};
if (!cv::imencode(".jpg", cam_bgr, buf, enc_params)) {
RCLCPP_ERROR(this->get_logger(), "cv::imencode failed (synced image/compressed)");
return;
}
CompressedImage sync_compressed_msg;
sync_compressed_msg.header = sync_image_msg.header;
sync_compressed_msg.format = "jpeg";
sync_compressed_msg.data.assign(buf.begin(), buf.end());
sync_image_compressed_pub_->publish(sync_compressed_msg);
}
pcl::PointCloud<pcl::PointXYZRGB> cloud_cam;
pcl::fromROSMsg(*cloud_msg, cloud_cam);
if (cloud_cam.empty()) {