FramerateNode.cpp

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#include <ueye/FramerateNode.h>

namespace ueye
{

FramerateNode::FramerateNode(ros::NodeHandle node, ros::NodeHandle priv_nh) :
    first_(true), rate_(0.0), stamp_old_(0)
{
  // Grab the topic name from the ROS parameter
  std::string topic = std::string("image_raw");
  priv_nh.getParam("topic", topic);

  // Set up Subscribers
  sub_ = node.subscribe(topic, 2, &FramerateNode::imageRecv, this, ros::TransportHints().tcpNoDelay(true));
}

FramerateNode::~FramerateNode()
{
}

void FramerateNode::imageRecv(const sensor_msgs::Image::ConstPtr& msg)
{
  ros::Time stamp = ros::Time::now();
  if (first_) {
    first_ = false;
  } else {
    double temp_rate = (double)1e9 / (double)(stamp - stamp_old_).toNSec();
    if (rate_ == 0.0) {
      rate_ = temp_rate;
    } else {
      rate_ += (temp_rate - rate_) * 0.2;
    }
  }
  stamp_old_ = stamp;

  ROS_INFO("%d %dx%d at %0.2fHz", msg->header.seq, msg->width, msg->height, rate_);
}

} // namespace ueye