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Better default parameters

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This commit is contained in:
Henri Rebecq
2019-09-16 14:09:11 +02:00
parent dc8a94f2b0
commit 71300eb8b1
5 changed files with 12 additions and 134 deletions
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14
event_camera_simulator/esim_visualization/src/ros_publisher.cpp
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@ -8,19 +8,19 @@
#include <gflags/gflags.h>
#include <glog/logging.h>
DEFINE_double(ros_publisher_camera_info_rate, 10,
DEFINE_double(ros_publisher_camera_info_rate, 0,
"Camera info (maximum) publish rate, in Hz");
DEFINE_double(ros_publisher_frame_rate, 25,
DEFINE_double(ros_publisher_frame_rate, 30,
"(Maximum) frame rate, in Hz");
DEFINE_double(ros_publisher_depth_rate, 25,
DEFINE_double(ros_publisher_depth_rate, 0,
"(Maximum) depthmap publish rate, in Hz");
DEFINE_double(ros_publisher_pointcloud_rate, 25,
DEFINE_double(ros_publisher_pointcloud_rate, 0,
"(Maximum) point cloud publish rate, in Hz");
DEFINE_double(ros_publisher_optic_flow_rate, 25,
DEFINE_double(ros_publisher_optic_flow_rate, 0,
"(Maximum) optic flow map publish rate, in Hz");
namespace event_camera_simulator {
@ -246,8 +246,8 @@ void RosPublisher::opticFlowCallback(const OpticFlowPtrVector& optic_flows, Time
}
static const Duration min_time_interval_between_published_optic_flows_
= ze::secToNanosec(1.0 / FLAGS_ros_publisher_optic_flow_rate);
if(last_published_optic_flow_time_ > 0 && t - last_published_optic_flow_time_ < min_time_interval_between_published_optic_flows_)
= (min_time_interval_between_published_optic_flows_ > 0) ? ze::secToNanosec(1.0 / FLAGS_ros_publisher_optic_flow_rate) : 0;
if(min_time_interval_between_published_optic_flows_ > 0 && last_published_optic_flow_time_ > 0 && t - last_published_optic_flow_time_ < min_time_interval_between_published_optic_flows_)
{
return;
}