Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, neltester/realsense2_save_image has been updated to 585aaec5872cfb622a05bdb2d4333e056332cfcb (commit) via 8d025bf64114d9c4ec992dae45caac47300cdaa5 (commit) via 871f463fc0abe8ea27cc1b700bea8c155c4bf120 (commit) from f4c673996af5d5a8c86c93249b015e02c52cefea (commit) https://github.com/fawkesrobotics/fawkes/tree/neltester/realsense2_save_image Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 871f463fc0abe8ea27cc1b700bea8c155c4bf120 Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> AuthorDate: Thu Oct 8 16:27:08 2020 +0200 Commit: Niklas Sebastian Eltester <eltes...@fh-aachen.de> CommitDate: Thu Oct 8 16:27:08 2020 +0200 cfg: Improve comment on SaveImage in CamCtrlIf https://github.com/fawkesrobotics/fawkes/commit/871f463fc - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 8d025bf64114d9c4ec992dae45caac47300cdaa5 Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> AuthorDate: Thu Oct 8 16:27:49 2020 +0200 Commit: Niklas Sebastian Eltester <eltes...@fh-aachen.de> CommitDate: Thu Oct 8 16:27:49 2020 +0200 realsense2: temporarily disable Werror https://github.com/fawkesrobotics/fawkes/commit/8d025bf64 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 585aaec5872cfb622a05bdb2d4333e056332cfcb Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> AuthorDate: Thu Oct 8 16:28:44 2020 +0200 Commit: Niklas Sebastian Eltester <eltes...@fh-aachen.de> CommitDate: Thu Oct 8 16:32:11 2020 +0200 realsense2: Create separate pipeline for color_sensor This creates a second pipeline for the same realsense device https://github.com/fawkesrobotics/fawkes/commit/585aaec58 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/libs/interfaces/CameraControlInterface.xml | 2 +- src/plugins/realsense2/Makefile | 2 +- src/plugins/realsense2/realsense2_thread.cpp | 21 ++++++++++++++++----- src/plugins/realsense2/realsense2_thread.h | 2 ++ 4 files changed, 20 insertions(+), 7 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 871f463fc0abe8ea27cc1b700bea8c155c4bf120 - - - - - - - - - - Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> Date: Thu Oct 8 16:27:08 2020 +0200 Subject: cfg: Improve comment on SaveImage in CamCtrlIf src/libs/interfaces/CameraControlInterface.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) _Diff for modified files_: diff --git a/src/libs/interfaces/CameraControlInterface.xml b/src/libs/interfaces/CameraControlInterface.xml index aa00eafc2..31d328092 100644 --- a/src/libs/interfaces/CameraControlInterface.xml +++ b/src/libs/interfaces/CameraControlInterface.xml @@ -45,7 +45,7 @@ </message> <message name="SaveImage"> - <comment>Take a frame as an image</comment> + <comment>Save a frame as an image.</comment> <ref>image_name</ref> </message> </interface> - *commit* 8d025bf64114d9c4ec992dae45caac47300cdaa5 - - - - - - - - - - Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> Date: Thu Oct 8 16:27:49 2020 +0200 Subject: realsense2: temporarily disable Werror src/plugins/realsense2/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) _Diff for modified files_: diff --git a/src/plugins/realsense2/Makefile b/src/plugins/realsense2/Makefile index ee3c342b2..6158b11c2 100644 --- a/src/plugins/realsense2/Makefile +++ b/src/plugins/realsense2/Makefile @@ -26,7 +26,7 @@ LDFLAGS += $(LDFLAGS_TF) $(LDFLAGS_PCL) LIBS_realsense2 = m fawkescore fawkesutils fawkesaspects fawkesbaseapp \ fawkesblackboard fawkesinterface \ - fawkespcl_utils SwitchInterface + fawkespcl_utils SwitchInterface CameraControlInterface OBJS_realsense2 = realsense2_plugin.o realsense2_thread.o - *commit* 585aaec5872cfb622a05bdb2d4333e056332cfcb - - - - - - - - - - Author: Niklas Sebastian Eltester <eltes...@fh-aachen.de> Date: Thu Oct 8 16:28:44 2020 +0200 Subject: realsense2: Create separate pipeline for color_sensor src/plugins/realsense2/realsense2_thread.cpp | 21 ++++++++++++++++----- src/plugins/realsense2/realsense2_thread.h | 2 ++ 2 files changed, 18 insertions(+), 5 deletions(-) _Diff for modified files_: diff --git a/src/plugins/realsense2/realsense2_thread.cpp b/src/plugins/realsense2/realsense2_thread.cpp index bd44df252..1c86e5eeb 100644 --- a/src/plugins/realsense2/realsense2_thread.cpp +++ b/src/plugins/realsense2/realsense2_thread.cpp @@ -90,8 +90,9 @@ Realsense2Thread::init() realsense_depth_->resize(0); pcl_manager->add_pointcloud(pcl_id_.c_str(), realsense_depth_refptr_); - rs_pipe_ = new rs2::pipeline(); - rs_context_ = new rs2::context(); + rs_pipe_ = new rs2::pipeline(); + rs_context_ = new rs2::context(); + rs_rgb_pipe_ = new rs2::pipeline(); } void @@ -103,9 +104,9 @@ Realsense2Thread::loop() } // take picture if (enable_camera_ && read_camera_control() != "") { - if (rs_pipe_->poll_for_frames(&rs_data_)) { + if (rs_rgb_pipe_->poll_for_frames(&rs_rgb_data_)) { error_counter_ = 0; - rs2::video_frame color_frame = rs_data_.first(RS2_STREAM_COLOR, RS2_FORMAT_YUYV); + rs2::video_frame color_frame = rs_rgb_data_.first(RS2_STREAM_COLOR, RS2_FORMAT_YUYV); image_name_ = rgb_path_ + read_camera_control() + color_frame.get_profile().stream_name() + ".png"; stbi_write_png(image_name_.c_str(), @@ -177,9 +178,11 @@ Realsense2Thread::finalize() stop_camera(); delete rs_pipe_; delete rs_context_; + delete rs_rgb_pipe_; realsense_depth_refptr_.reset(); pcl_manager->remove_pointcloud(pcl_id_.c_str()); blackboard->close(switch_if_); + blackboard->close(camera_if_); } /* Create RS context and start the depth stream @@ -192,6 +195,10 @@ Realsense2Thread::start_camera() rs_pipe_->stop(); } catch (const std::exception &e) { } + try { + rs_rgb_pipe_->stop(); + } catch (const std::exception &e) { + } try { if (!get_camera(rs_device_)) { @@ -219,7 +226,7 @@ Realsense2Thread::start_camera() //rgb config rs2::config rgb_config; rgb_config.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_YUYV, frame_rate_); - rs2::pipeline_profile rs_pipeline_profile_rgb_ = rs_pipe_->start(rgb_config); + rs2::pipeline_profile rs_pipeline_profile_rgb_ = rs_rgb_pipe_->start(rgb_config); auto rgb_stream = rs_pipeline_profile_rgb_.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>(); rgb_intrinsics_ = rgb_stream.get_intrinsics(); @@ -379,6 +386,10 @@ Realsense2Thread::stop_camera() rs_pipe_->stop(); } catch (const std::exception &e) { } + try { + rs_rgb_pipe_->stop(); + } catch (const std::exception &e) { + } } /** diff --git a/src/plugins/realsense2/realsense2_thread.h b/src/plugins/realsense2/realsense2_thread.h index ee8c3bbaa..aaf271693 100644 --- a/src/plugins/realsense2/realsense2_thread.h +++ b/src/plugins/realsense2/realsense2_thread.h @@ -97,6 +97,8 @@ private: rs2::context * rs_context_; rs2::device rs_device_; rs2::frameset rs_data_; + rs2::pipeline *rs_rgb_pipe_; + rs2::frameset rs_rgb_data_; rs2_intrinsics intrinsics_; rs2_intrinsics rgb_intrinsics_; _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
