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[ros2-development] Fix overriding frames on same topics/CV-images due to a bug in PR2759 #2799

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merged 1 commit into from
Jul 2, 2023
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[ros2-development] Fix overriding frames on same topics/CV-images due to a bug in PR2759 #2799

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11 changes: 8 additions & 3 deletions realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -206,9 +206,14 @@ namespace realsense2_camera

IMUInfo getImuInfo(const rs2::stream_profile& profile);

void publishFrame(rs2::frame f, const rclcpp::Time& t,
const stream_index_pair& stream,
const bool is_publishMetadata = true);
void publishFrame(rs2::frame f,
const rclcpp::Time& t,
const stream_index_pair& stream,
std::map<stream_index_pair, cv::Mat>& images,
const std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>& info_publishers,
const std::map<stream_index_pair, std::shared_ptr<image_publisher>>& image_publishers,
const bool is_publishMetadata = true);

void publishMetadata(rs2::frame f, const rclcpp::Time& header_time, const std::string& frame_id);

sensor_msgs::msg::Imu CreateUnitedMessage(const CimuData accel_data, const CimuData gyro_data);
Expand Down
23 changes: 13 additions & 10 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -534,11 +534,11 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
sent_depth_frame = true;
if (original_color_frame && _align_depth_filter->is_enabled())
{
publishFrame(f, t, COLOR, false);
publishFrame(f, t, COLOR, _depth_aligned_image, _depth_aligned_info_publisher, _depth_aligned_image_publishers, false);
continue;
}
}
publishFrame(f, t, sip);
publishFrame(f, t, sip, _images, _info_publishers, _image_publishers);
}
if (original_depth_frame && _align_depth_filter->is_enabled())
{
Expand All @@ -548,7 +548,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
else
frame_to_send = original_depth_frame;

publishFrame(frame_to_send, t, DEPTH);
publishFrame(frame_to_send, t, DEPTH, _images, _info_publishers, _image_publishers);
}
}
else if (frame.is<rs2::video_frame>())
Expand All @@ -566,8 +566,8 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
clip_depth(frame, _clipping_distance);
}
}
publishFrame(frame, t, sip);
}
publishFrame(frame, t, sip, _images, _info_publishers, _image_publishers);
}
_synced_imu_publisher->Resume();
} // frame_callback

Expand Down Expand Up @@ -820,6 +820,9 @@ IMUInfo BaseRealSenseNode::getImuInfo(const rs2::stream_profile& profile)

void BaseRealSenseNode::publishFrame(rs2::frame f, const rclcpp::Time& t,
const stream_index_pair& stream,
std::map<stream_index_pair, cv::Mat>& images,
const std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>& info_publishers,
const std::map<stream_index_pair, std::shared_ptr<image_publisher>>& image_publishers,
const bool is_publishMetadata)
{
ROS_DEBUG("publishFrame(...)");
Expand All @@ -833,7 +836,7 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const rclcpp::Time& t,
height = timage.get_height();
bpp = timage.get_bytes_per_pixel();
}
auto& image = _images[stream];
auto& image = images[stream];

if (image.size() != cv::Size(width, height) || image.depth() != _image_formats[bpp])
{
Expand All @@ -846,14 +849,14 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const rclcpp::Time& t,
image = fix_depth_scale(image, _depth_scaled_image[stream]);
}

if (_info_publishers.find(stream) == _info_publishers.end() ||
_image_publishers.find(stream) == _image_publishers.end())
if (info_publishers.find(stream) == info_publishers.end() ||
image_publishers.find(stream) == image_publishers.end())
{
// Stream is already disabled.
return;
}
auto& info_publisher = _info_publishers.at(stream);
auto& image_publisher = _image_publishers.at(stream);
auto& info_publisher = info_publishers.at(stream);
auto& image_publisher = image_publishers.at(stream);
if(0 != info_publisher->get_subscription_count() ||
0 != image_publisher->get_subscription_count())
{
Expand Down