FramerateNode.cpp

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#include <ueye/FramerateNode.h>

namespace ueye
{

FramerateNode::FramerateNode(ros::NodeHandle node, ros::NodeHandle priv_nh)
{
  // 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& rosImg)
{
  static double rate = 0.0;
  static long int oldTimeStamp = 0;
  long int newTimeStamp = ros::Time::now().toNSec();
  if (oldTimeStamp != 0) {
    double temp_rate = 1000000000.0 / ((double)(newTimeStamp - oldTimeStamp));
    if (rate == 0) {
      rate = temp_rate;
    } else {
      rate += (temp_rate - rate) * 0.2;
    }
  }
  oldTimeStamp = newTimeStamp;

  // Convert the ROS Image to an OpenCV Mat
  cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(rosImg, sensor_msgs::image_encodings::RGB8);

  ROS_INFO("%d %dx%d at %0.2fHz", rosImg->header.seq, cv_ptr->image.cols, cv_ptr->image.rows, rate);
}

} // namespace ueye