Initial Merging: Setting up ImageSaverNode

camera_calibration/src/camera_calibration/calibrator.py

@@ -389,6 +389,7 @@ def __init__(self, boards, flags=0, fisheye_flags=0, pattern=Patterns.Chessboard
         self.pattern = pattern
         self.br = cv_bridge.CvBridge()
         self.camera_model = CAMERA_MODEL.PINHOLE
+        self.declare_parameter('vga_scale', 0)
         # self.db is list of (parameters, image) samples for use in calibration. parameters has form
         # (X, Y, size, skew) all normalized to [0,1], to keep track of what sort of samples we've taken
         # and ensure enough variety.

image_view/CMakeLists.txt

@@ -21,7 +21,6 @@ endif()
 
 ament_auto_add_library(${PROJECT_NAME}_nodes SHARED
   src/disparity_view_node.cpp
-  src/extract_images_node.cpp
   src/image_view_node.cpp
   src/image_saver_node.cpp
   src/stereo_view_node.cpp
@@ -35,7 +34,6 @@ target_compile_definitions(${PROJECT_NAME}_nodes
 )
 rclcpp_components_register_nodes(${PROJECT_NAME}_nodes
   "${PROJECT_NAME}::DisparityViewNode"
-  "${PROJECT_NAME}::ExtractImagesNode"
   "${PROJECT_NAME}::ImageViewNode"
   "${PROJECT_NAME}::ImageSaverNode"
   "${PROJECT_NAME}::StereoViewNode"
@@ -74,16 +72,6 @@ add_dependencies(stereo_view
 )
 
 # Other Tools
-ament_auto_add_executable(extract_images
-  src/extract_images.cpp
-)
-target_link_libraries(extract_images
-  ${PROJECT_NAME}_nodes
-)
-add_dependencies(extract_images
-  ${PROJECT_NAME}_nodes
-)
-
 ament_auto_add_executable(image_saver
   src/image_saver.cpp
 )

image_view/doc/components.rst

@@ -18,35 +18,6 @@ Parameters
  * **window_name** (string, default: name of the image topic):
    The name of the display window.
 
-image_view::ExtractImagesNode
------------------------------
-This tool also allows you to save images as jpg/png file from
-streaming (ROS sensor_msgs/Image topic) to a file.
-``image_saver`` node provide very similar functionalities,
-such as providing service call to trigger the node to save
-images, save images other than JPEG format, etc.
-
-This tool allows you to save images as jpg/png file from streaming
-(ROS sensor_msgs/Image topic) to a file. From command line, you
-can run with:
-
-.. code-block:: bash
-
-    ros2 run image_view image_saver --ros-args -r image:=[your topic]
-
-or see this answer to control the timing of capture.
-
-Subscribed Topics
-^^^^^^^^^^^^^^^^^
- * **image** (sensor_msgs/Image): Image topic to visualize.
-
-Parameters
-----------
- * **filename_format** (string, default: "frame%04i.jpg"): File name for
-   saved images, you must add use '%04i' for sequence number.
- * **image_transport** (string, default: raw): Image transport to use.
- * **sec_per_frame** (double, default: 0.1): Seconds between saved frames.
-
 image_view::ImageViewNode
 -------------------------
 Simple image viewer for ROS sensor_msgs/Image topics. Node name
@@ -74,7 +45,7 @@ This tool allows you to save images as jpg/png file from streaming
 can run with:
 
 .. code-block:: bash
-    
+
     ros2 run image_view image_saver --ros-args -r image:=[your topic]
 
 or see this answer to control the timing of capture.
@@ -93,7 +64,8 @@ Services
 Parameters
 ----------
  * **encoding** (string, default:"bgr8"): Encoding type of input image topic.
- * **filename_format** (string, default: "left%04i.jpg"): File name for
+ * **fps** (int, default:"0"): Seconds between saved frames.
+ * **filename_format** (string, default: "frame%04i.jpg"): File name for
    saved images, you can use '%04i' for sequence number, and '%s' for default
    file format, you can use 'jpg' ,'png', 'pgm' as filename suffixes.
  * **image_transport** (string, default: raw): Image transport to use.

image_view/include/image_view/image_saver_node.hpp

@@ -68,6 +68,7 @@ class ImageSaverNode
 
 private:
   std::string g_format;
+  int fps_;
   bool stamped_filename_;
   bool save_all_image_{false};
   bool save_image_service_{false};
@@ -76,6 +77,9 @@ class ImageSaverNode
   bool is_first_image_{true};
   bool has_camera_info_{false};
   size_t count_{0u};
+  sensor_msgs::msg::Image::ConstSharedPtr latest_image_;
+  std::mutex image_save_mutex_;
+  rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::Time start_time_;
   rclcpp::Time end_time_;
   image_transport::CameraSubscriber cam_sub_;
@@ -84,6 +88,7 @@ class ImageSaverNode
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr start_srv_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr end_srv_;
 
+  void timerCallback();
   bool saveImage(const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, std::string & filename);
   bool service(
     const std::shared_ptr<rmw_request_id_t> request_header,