public void publish(String frameID, BufferedImage img, Time t) Image message = getMessage(); Header header = message.getHeader(); publish(message);
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
public RosSCSCameraPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, DRCRobotCameraParameters[] cameraParameters) { nSensors = cameraParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.cameraParameters = cameraParameters; cameraPublisher = new RosImagePublisher[nSensors]; cameraInfoPublishers = new RosCameraInfoPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { cameraPublisher[sensorId] = new RosImagePublisher(); String imageTopic = cameraParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(imageTopic, cameraPublisher[sensorId]); if (cameraParameters[sensorId].getRosCameraInfoTopicName() != null && cameraParameters[sensorId].getRosCameraInfoTopicName() != "") { String infoTopic = cameraParameters[sensorId].getRosCameraInfoTopicName(); cameraInfoPublishers[sensorId] = new RosCameraInfoPublisher(); rosMainNode.attachPublisher(infoTopic, cameraInfoPublishers[sensorId]); } } localObjectCommunicator.attachListener(LocalVideoPacket.class, this); }
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
public RosSCSCameraPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, DRCRobotCameraParameters[] cameraParameters) { nSensors = cameraParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.cameraParameters = cameraParameters; cameraPublisher = new RosImagePublisher[nSensors]; cameraInfoPublishers = new RosCameraInfoPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { cameraPublisher[sensorId] = new RosImagePublisher(); String imageTopic = cameraParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(imageTopic, cameraPublisher[sensorId]); if (cameraParameters[sensorId].getRosCameraInfoTopicName() != null && cameraParameters[sensorId].getRosCameraInfoTopicName() != "") { String infoTopic = cameraParameters[sensorId].getRosCameraInfoTopicName(); cameraInfoPublishers[sensorId] = new RosCameraInfoPublisher(); rosMainNode.attachPublisher(infoTopic, cameraInfoPublishers[sensorId]); } } localObjectCommunicator.attachListener(LocalVideoPacket.class, this); }
public void publish(String frameID, BufferedImage img, Time t) Image message = getMessage(); Header header = message.getHeader(); publish(message);
@Override public void consumeObject(LocalVideoPacket object) { if (rosMainNode.isStarted()) { //XXX: SENSOR ID DOES NOT EXIST! THIS IS SOOOOOO WRONG int sensorId = 0; long timestamp = ppsTimestampOffsetProvider.adjustRobotTimeStampToRosClock(object.getTimeStamp()); Time time = Time.fromNano(timestamp); String frameId = cameraParameters[sensorId].getPoseFrameForSdf(); cameraPublisher[sensorId].publish(frameId, object.getImage(), time); sendIntrinsicPacket(object, sensorId, frameId, time); } }
public RosSCSCameraPublisher(ObjectCommunicator localObjectCommunicator, RosMainNode rosMainNode, PPSTimestampOffsetProvider ppsTimestampOffsetProvider, DRCRobotCameraParameters[] cameraParameters) { nSensors = cameraParameters.length; this.rosMainNode = rosMainNode; this.ppsTimestampOffsetProvider = ppsTimestampOffsetProvider; this.cameraParameters = cameraParameters; cameraPublisher = new RosImagePublisher[nSensors]; cameraInfoPublishers = new RosCameraInfoPublisher[nSensors]; for (int sensorId = 0; sensorId < nSensors; sensorId++) { cameraPublisher[sensorId] = new RosImagePublisher(); String imageTopic = cameraParameters[sensorId].getRosTopic(); rosMainNode.attachPublisher(imageTopic, cameraPublisher[sensorId]); if (cameraParameters[sensorId].getRosCameraInfoTopicName() != null && cameraParameters[sensorId].getRosCameraInfoTopicName() != "") { String infoTopic = cameraParameters[sensorId].getRosCameraInfoTopicName(); cameraInfoPublishers[sensorId] = new RosCameraInfoPublisher(); rosMainNode.attachPublisher(infoTopic, cameraInfoPublishers[sensorId]); } } localObjectCommunicator.attachListener(LocalVideoPacket.class, this); }