Camera synchronization #15
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Ну-ка живо сделайте |
dasimagin
requested changes
Nov 25, 2023
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Чтобы восстановить контекст, я решил пробежаться по коду снова. Нашел вот такой снипет... handy/packages/camera/src/camera.cpp Lines 187 to 195 in 79fec66 Надо бы это исправить, теперь этот параметр не определяется, надо посчитать количество камер в списке и ругать, если их меньше/больше. |
dasimagin
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Jan 7, 2024
dasimagin
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Jan 11, 2024
dfbakin
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Jan 13, 2024
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dasimagin
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Mar 3, 2024
Checking synchronization implemented, frame counters added. Timer callback group (mutually exclusive added) missing nullptr added Redundunt buffer eliminated Camera script for enumerating cameras with IDs done and tested. Shell script added for convenience optimized includes and replaced atoi with stoi Minor changes in camera identifier Revert "Camera script for enumerating cameras with IDs done and tested. Shell script added for convenience" This reverts commit d35905c. cleared files after revert camera srtucture in launch file extended with intrinsics. Migrated camera node from name-based to ID-based approach
Lock-free queue from boost library is used to store images in newly allocated memory StampedImagePtr is changed to be trivially contructable, destructable and copyable -O3 compilation flag added in CMakeLists.txt for performance reasons
Minor changes implemented
Checked with address sanitizer, fixed allocations Added logs in assigning master camera idx fixed bug with assigning master camera idx when flag hardware_trigger is false
added and commented performance data: CPU time and logs related to lock-free queue deleted redundunt static param from CameraNode class
implemented PR requested changes deleted debug code
fix: queue latency changed in order to provide publishing up to 30 FPS
fix: exit code
fix: buffer allocation fixed, tested up to 40 fps
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Camera node is modified to be able to proceed and synchronise frames from different cameras. Lock-free queue is planned to be used.
Also hardware trigger support implemented