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fback_flow: add option to set 'queue_size' #83

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Mar 18, 2019
Merged

fback_flow: add option to set 'queue_size' #83

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12 changes: 10 additions & 2 deletions src/nodelet/fback_flow_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
Config config_;
boost::shared_ptr<ReconfigureServer> reconfigure_server_;

int queue_size_;
bool debug_view_;
ros::Time prev_stamp_;

Expand Down Expand Up @@ -122,6 +123,12 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
}
}

// Check if clock is jumped back
if (ros::Time::isSimTime() && prev_stamp_ > msg->header.stamp) {
NODELET_WARN_STREAM("Detected jump back in time of " << msg->header.stamp << ". Clearing optical flow cache.");
prevgray = cv::Mat();
}

// Do the work
if ( frame.channels() > 1 ) {
cv::cvtColor( frame, gray, cv::COLOR_BGR2GRAY );
Expand Down Expand Up @@ -182,9 +189,9 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
{
NODELET_DEBUG("Subscribing to image topic.");
if (config_.use_camera_info)
cam_sub_ = it_->subscribeCamera("image", 3, &FBackFlowNodelet::imageCallbackWithInfo, this);
cam_sub_ = it_->subscribeCamera("image", queue_size_, &FBackFlowNodelet::imageCallbackWithInfo, this);
else
img_sub_ = it_->subscribe("image", 3, &FBackFlowNodelet::imageCallback, this);
img_sub_ = it_->subscribe("image", queue_size_, &FBackFlowNodelet::imageCallback, this);
}

void unsubscribe()
Expand All @@ -200,6 +207,7 @@ class FBackFlowNodelet : public opencv_apps::Nodelet
Nodelet::onInit();
it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));

pnh_->param("queue_size", queue_size_, 3);
pnh_->param("debug_view", debug_view_, false);
if (debug_view_) {
always_subscribe_ = true;
Expand Down