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Feature/add warnings for fps #97

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Feature/add warnings for fps #97

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a593d2a
Print camera model and version for connected cameras
vik748 Jul 1, 2020
87628e2
Fixing the stack trace on exit by clearing camera vector
vik748 Jul 1, 2020
fea9dbb
will warn if avg fps is below requested fps vis soft_trig
mithundiddi Jul 2, 2020
03b4c55
removed files from local branch
mithundiddi Jul 2, 2020
711893e
will install libunwind-dev only for amd64
mithundiddi Jul 2, 2020
6cf3706
Merge branch 'dev' into feature/add_warnings_for_fps
mithundiddi Jul 2, 2020
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8 changes: 7 additions & 1 deletion download_and_install_spinnaker.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,13 @@ export DEBIAN_FRONTEND=noninteractive
# install basic packages
apt-get update
apt-get install -q -y --no-install-recommends \
build-essential tree wget dirmngr gnupg2 vim nano git debconf-utils libunwind-dev
build-essential tree wget dirmngr gnupg2 vim nano git debconf-utils
# install libunwind-dev only in amd64
if [[ $SPINNAKER_LINUX_ARCH == "amd64" ]]
then
apt-get update
apt-get install -q -y --no-install-recommends libunwind-dev
fi

wget https://coe.northeastern.edu/fieldrobotics/spinnaker_sdk_archive/spinnaker-$SPINNAKER_VERSION-$SPINNAKER_LINUX_ARCH-pkg.tar.gz -nv

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23 changes: 19 additions & 4 deletions src/capture.cpp
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Expand Up @@ -15,8 +15,6 @@ acquisition::Capture::~Capture(){

end_acquisition();
deinit_cameras();

// pCam = nullptr;

ROS_INFO_STREAM("Clearing camList...");
camList_.Clear();
Expand Down Expand Up @@ -927,6 +925,7 @@ void acquisition::Capture::run_soft_trig() {
if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);

int count = 0;
int count_per_window = 0;

if (!EXTERNAL_TRIGGER_) {
cams[MASTER_CAM_].trigger();
Expand All @@ -935,6 +934,7 @@ void acquisition::Capture::run_soft_trig() {
get_mat_images();
if (SAVE_) {
count++;
count_per_window++;
if (SAVE_BIN_)
save_binary_frames(0);
else
Expand All @@ -956,6 +956,7 @@ void acquisition::Capture::run_soft_trig() {


ros::Rate ros_rate(soft_framerate_);
double loop_time_per_window = 0.0;
try{
while( ros::ok() ) {

Expand Down Expand Up @@ -996,6 +997,7 @@ void acquisition::Capture::run_soft_trig() {
if (!EXPORT_TO_ROS_){
ROS_INFO_STREAM("Exporting frames to ROS...");
export_to_ROS();
count_per_window++;
}
}
} else if( (key & 255)==27 ) { // ESC
Expand All @@ -1016,9 +1018,10 @@ void acquisition::Capture::run_soft_trig() {
}
get_mat_images();
}

count++;
count_per_window++;
if (SAVE_) {
count++;
//count++;
if (SAVE_BIN_)
save_binary_frames(0);
else
Expand All @@ -1042,6 +1045,18 @@ void acquisition::Capture::run_soft_trig() {
// double total_time = grab_time_ + toMat_time_ + disp_time_ + save_mat_time_;
double total_time = toMat_time_ + disp_time_ + save_mat_time_+export_to_ROS_time_;
achieved_time_ = ros::Time::now().toSec() - achieved_time_;
// averaging loop time in a window to get average fps
loop_time_per_window +=achieved_time_;
// refresh the avg every window_length_in_time_sec seconds
float window_length_in_time_sec = 60.0;
if (SOFT_FRAME_RATE_CTRL_ && (loop_time_per_window >= window_length_in_time_sec)) {
double average_fps = count_per_window/loop_time_per_window;
// warns if average_fps+1 is less than requested fps
ROS_WARN_COND(average_fps+1 <soft_framerate_,"Requested FPS %d Average FPS: %.1f",soft_framerate_,average_fps);
// reset
loop_time_per_window = 0.0;
count_per_window = 0;
}

ROS_INFO_COND(TIME_BENCHMARK_,
"total time (ms): %.1f \tPossible FPS: %.1f\tActual FPS: %.1f",
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