Support Depth Mapping Streams #2757
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| sensor_msgs::PointCloud2Iterator<float> iter_label(*msg_pointcloud, "label"); | ||
| const rs2::vertex* vertex = pc.get_vertices(); | ||
| const uint8_t* label = pc.get_labels(); | ||
| msg_pointcloud->width = 320; |
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@remibettan
should we add get_width / get_height for rs2::labeleld_points?
because in the future, labeled point cloud might support different heights/widths/resolutions
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The API size() should be used instead of width and height
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but I used size to get the size of the whole PC.
what if I want to get width/height to fill the structure of point cloud message ?
or should I assume this is unordered Point Cloud and set the height 1 and width = frame.size() ?
Reference: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/PointCloud2.html
2D structure of the point cloud. If the cloud is unordered, height is 1 and width is the length of the point cloud.
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Well, you may this. Because, as for point cloud, there is no meaning to height and width there, since vertices are passed, and not a frame
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I understand we are getting unordered vertices, not an ordered ones.
But, its better to wait for @benlev inputs here, since he might want this meta info in the msg itself.
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This was a valid question :)
LPC resolution is now changed and I am phasing the same question..
SamerKhshiboun
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| @@ -271,7 +273,7 @@ namespace realsense2_camera | |||
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| bool _use_intra_process; | |||
| std::map<stream_index_pair, std::shared_ptr<image_publisher>> _image_publishers; | |||
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| rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr _labeled_pointcloud_publisher; | |||
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Can you explain why you have a specific publisher for lpc and not for pc?
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Because we can turn on both Depth point cloud and Labeled Point cloud at the same time
These are two different publishers
| image_publishers.find(stream) == image_publishers.end()) | ||
| bool is_sc_stream = isSCStream(stream); | ||
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| // if stream is on, and is not a SC stream, publish camereaInfo |
| bool is_sc_stream = isSCStream(stream); | ||
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| // if stream is on, and is not a SC stream, publish camereaInfo | ||
| if(!is_sc_stream && info_publishers.find(stream) != info_publishers.end()) |
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I would have renamed the is_sc_stream to should_publish_camera_info, since this is the aim of it
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changed the function name from isSCStream to shouldPublishCameraInfo, and changed the implementation inside it.
| @@ -188,6 +189,11 @@ void BaseRealSenseNode::stopPublishers(const std::vector<stream_profile>& profil | |||
| _info_publisher.erase(sip); | |||
| _depth_aligned_image_publishers.erase(sip); | |||
| _depth_aligned_info_publisher.erase(sip); | |||
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| if(_labeled_pointcloud_publisher) | |||
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In which case would this condition be false?
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if it was not initialized at all (e.g., the camera doesn't support Depth Mapping Sensor)
| if (profile.is<rs2::video_stream_profile>() && profile.stream_type() == RS2_STREAM_LABELED_POINT_CLOUD) | ||
| { | ||
| _labeled_pointcloud_publisher = _node.create_publisher<sensor_msgs::msg::PointCloud2>("labeled_point_cloud/points", | ||
| rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos),qos)); |
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Please explain what is QoS?
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Quality Of Service.
Each publisher should define quality of service, regarding its Durability, Reliability, Depth, History, Queue Size, etc..
Reference: https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
Read both parts:
1- https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-policies
2- https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-profiles
| _labeled_pointcloud_publisher = _node.create_publisher<sensor_msgs::msg::PointCloud2>("labeled_point_cloud/points", | ||
| rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos),qos)); | ||
| } | ||
| else if (profile.is<rs2::video_stream_profile>()) |
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Since the video_stream_profile happens most of the time, it should be the first condition in the code.
Please pass it back to the if condition, and move the lpc condition to some else if after it (even maybe last one)
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Changed the flow.
Combined it to one "if (profile.isrs2::video_stream_profile()) "
then asked about Labeled PC stream inside it.
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1 side comment, we did some work with the community on supporting zero copy for PC, please make sure you are aligning L-PC to that. |
Already aligned in the current implementation |
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| @@ -520,6 +522,12 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) | |||
| if (f.is<rs2::video_frame>()) | |||
| ROS_DEBUG_STREAM("frame: " << f.as<rs2::video_frame>().get_width() << " x " << f.as<rs2::video_frame>().get_height()); | |||
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| if (f.is<rs2::labeled_points>()) | |||
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better change this if statement to else if - do you agree?
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