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Do not publish corrupted images when timestamp < exposure_time (#17)

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This commit is contained in:
Henri Rebecq 2019-03-22 12:12:28 +01:00
parent 1241667c33
commit 73cecac7d1
3 changed files with 14 additions and 7 deletions
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1
event_camera_simulator/esim/include/esim/esim/simulator.hpp
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@ -42,6 +42,7 @@ public:
void publishData(const SimulatorData &sim_data, void publishData(const SimulatorData &sim_data,
const EventsVector &events, const EventsVector &events,
bool camera_simulator_success,
const ImagePtrVector &camera_images); const ImagePtrVector &camera_images);
private: private:

16
event_camera_simulator/esim/src/simulator.cpp
View File

@ -18,6 +18,8 @@ void Simulator::dataProviderCallback(const SimulatorData &sim_data)
{ {
CHECK_EQ(event_simulators_.size(), num_cameras_); CHECK_EQ(event_simulators_.size(), num_cameras_);
bool camera_simulator_success;
if(sim_data.images_updated) if(sim_data.images_updated)
{ {
EventsVector events(num_cameras_); EventsVector events(num_cameras_);
@ -36,14 +38,14 @@ void Simulator::dataProviderCallback(const SimulatorData &sim_data)
corrupted_camera_images_[i]->setTo(0.); corrupted_camera_images_[i]->setTo(0.);
} }
camera_simulators_[i].imageCallback(*sim_data.images[i], time, corrupted_camera_images_[i]); camera_simulator_success = camera_simulators_[i].imageCallback(*sim_data.images[i], time, corrupted_camera_images_[i]);
} }
} }
// publish the simulation data + events // publish the simulation data + events
{ {
auto t = timers_event_simulator_[TimerEventSimulator::visualization].timeScope(); auto t = timers_event_simulator_[TimerEventSimulator::visualization].timeScope();
publishData(sim_data, events, corrupted_camera_images_); publishData(sim_data, events, camera_simulator_success, corrupted_camera_images_);
} }
} }
else else
@ -51,13 +53,14 @@ void Simulator::dataProviderCallback(const SimulatorData &sim_data)
{ {
// just forward the simulation data to the publisher // just forward the simulation data to the publisher
auto t = timers_event_simulator_[TimerEventSimulator::visualization].timeScope(); auto t = timers_event_simulator_[TimerEventSimulator::visualization].timeScope();
publishData(sim_data, {}, corrupted_camera_images_); publishData(sim_data, {}, camera_simulator_success, corrupted_camera_images_);
} }
} }
} }
void Simulator::publishData(const SimulatorData& sim_data, void Simulator::publishData(const SimulatorData& sim_data,
const EventsVector& events, const EventsVector& events,
bool camera_simulator_success,
const ImagePtrVector& camera_images) const ImagePtrVector& camera_images)
{ {
if(publishers_.empty()) if(publishers_.empty())
@ -106,11 +109,14 @@ void Simulator::publishData(const SimulatorData& sim_data,
{ {
publisher->imageCallback(sim_data.images, time); publisher->imageCallback(sim_data.images, time);
// the images should be timestamped at mid-exposure (unless it is not possible) if(camera_simulator_success && time >= exposure_time_)
const Time mid_exposure_time = (time >= 0.5 * exposure_time_) ? time - 0.5 * exposure_time_ : time; {
// the images should be timestamped at mid-exposure
const Time mid_exposure_time = time - 0.5 * exposure_time_;
publisher->imageCorruptedCallback(camera_images, mid_exposure_time); publisher->imageCorruptedCallback(camera_images, mid_exposure_time);
} }
} }
}
if(sim_data.depthmaps_updated) if(sim_data.depthmaps_updated)
{ {
for(const Publisher::Ptr& publisher : publishers_) for(const Publisher::Ptr& publisher : publishers_)