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Deal better with looping on a video file and the start and stop frame selection #67

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merged 2 commits into from
Nov 13, 2020
Merged

Deal better with looping on a video file and the start and stop frame selection #67

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7c87f42
Deal better with looping on a video file and the start and stop frame…
awesomebytes Apr 28, 2020
bb0073a
Fix typo when moving log to debug
awesomebytes Apr 28, 2020
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4 changes: 2 additions & 2 deletions cfg/VideoStream.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ gen.add("exposure", double_t, LEVEL.RUNNING, "Target exposure", 0.5, 0.0, 1.0)
gen.add("loop_videofile", bool_t, LEVEL.RUNNING, "Loop videofile", False)
gen.add("reopen_on_read_failure", bool_t, LEVEL.RUNNING, "Re-open camera device on read failure", False)
gen.add("output_encoding", str_t, LEVEL.NORMAL, "Output encoding", "bgr8")
gen.add("start_frame", int_t, LEVEL.NORMAL, "Start frame of the video ", 0, 0)
gen.add("stop_frame", int_t, LEVEL.NORMAL, "Stop frame of the video", -1, -1)
gen.add("start_frame", int_t, LEVEL.RUNNING, "Start frame of the video ", 0, 0)
gen.add("stop_frame", int_t, LEVEL.RUNNING, "Stop frame of the video", -1, -1)
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Incrased the level to force the dynamic_reconfigure callback to do unsubscribe and then subscribe so frame correctness checks are done.


exit(gen.generate(PKG, PKG, "VideoStream"))
22 changes: 16 additions & 6 deletions src/video_stream.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ virtual void do_capture() {
continue;
}
if (!cap->read(frame)) {
NODELET_ERROR("Could not capture frame");
NODELET_ERROR_STREAM("Could not capture frame (frame_counter: " << frame_counter << ")");
if (latest_config.reopen_on_read_failure) {
NODELET_WARN("trying to reopen the device");
unsubscribe();
Expand All @@ -136,14 +136,16 @@ virtual void do_capture() {
{
camera_fps_rate.sleep();
}
NODELET_DEBUG_STREAM("Current frame_counter: " << frame_counter << " latest_config.stop_frame - latest_config.start_frame: " << latest_config.stop_frame - latest_config.start_frame);
if (video_stream_provider_type == "videofile" &&
frame_counter == latest_config.stop_frame - latest_config.start_frame)
frame_counter >= latest_config.stop_frame - latest_config.start_frame)
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There are cases where the frame_counter variable can go over this check and then we are stuck forever on the Could not capture frame error. By doing >= we make sure to reset.

{
if (latest_config.loop_videofile)
{
cap->open(video_stream_provider);
cap->set(cv::CAP_PROP_POS_FRAMES, latest_config.start_frame);
frame_counter = 0;
NODELET_DEBUG("Reached end of frames, looping.");
}
else {
NODELET_INFO("Reached the end of frames");
Expand Down Expand Up @@ -222,7 +224,7 @@ virtual void do_publish(const ros::TimerEvent& event) {

virtual void subscribe() {
ROS_DEBUG("Subscribe");
VideoStreamConfig latest_config = config;
VideoStreamConfig& latest_config = config;
// initialize camera info publisher
camera_info_manager::CameraInfoManager cam_info_manager(
*nh, latest_config.camera_name, latest_config.camera_info_url);
Expand All @@ -241,16 +243,22 @@ virtual void subscribe() {
cap->open(video_stream_provider);
if(video_stream_provider_type == "videofile" )
{
if(latest_config.stop_frame == -1) latest_config.stop_frame = cap->get(cv::CAP_PROP_FRAME_COUNT);
// We can only check the number of frames when we actually open the video file
NODELET_INFO_STREAM("Video number of frames: " << cap->get(cv::CAP_PROP_FRAME_COUNT));
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Try to avoid doing things obscurely and warn the user. The user may want to use this information to update their launch file to the last frame.

if(latest_config.stop_frame == -1)
{
NODELET_WARN_STREAM("'stop_frame' set to -1, setting internally (won't be shown in dynamic_reconfigure) to last frame: " << cap->get(cv::CAP_PROP_FRAME_COUNT));
latest_config.stop_frame = cap->get(cv::CAP_PROP_FRAME_COUNT);
}
if(latest_config.stop_frame > cap->get(cv::CAP_PROP_FRAME_COUNT))
{
NODELET_WARN_STREAM("Invalid 'stop frame' " << latest_config.stop_frame << " for video which has " << cap->get(cv::CAP_PROP_FRAME_COUNT) << " frames. Set 'stop frame' to " << cap->get(cv::CAP_PROP_FRAME_COUNT) << ".");
NODELET_ERROR_STREAM("Invalid 'stop_frame' " << latest_config.stop_frame << " for video which has " << cap->get(cv::CAP_PROP_FRAME_COUNT) << " frames. Setting internally (won't be shown in dynamic_reconfigure) 'stop_frame' to " << cap->get(cv::CAP_PROP_FRAME_COUNT));
latest_config.stop_frame = cap->get(cv::CAP_PROP_FRAME_COUNT);
}

if(latest_config.start_frame >= latest_config.stop_frame)
{
NODELET_WARN_STREAM("Invalid 'start frame' " << latest_config.start_frame << ", which excceds 'stop frame' " << latest_config.stop_frame << ". Set 'start frame' to 0.");
NODELET_ERROR_STREAM("Invalid 'start_frame' " << latest_config.start_frame << ", which exceeds 'stop_frame' " << latest_config.stop_frame << ". Setting internally (won't be shown in dynamic_reconfigure) 'start_frame' to 0.");
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Upgrade these to errors, as they are actually configuration errors.

latest_config.start_frame = 0;
}

Expand Down Expand Up @@ -386,8 +394,10 @@ virtual void configCallback(VideoStreamConfig& new_config, uint32_t level) {
NODELET_INFO_STREAM("Forced image height is: " << new_config.height);
}

NODELET_DEBUG_STREAM("subscriber_num: " << subscriber_num << " and level: " << level);
if (subscriber_num > 0 && (level & 0x1))
{
NODELET_DEBUG("New dynamic_reconfigure config received on a parameter with configure level 1, unsubscribing and subscribing");
unsubscribe();
subscribe();
}
Expand Down