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[WIP]Unique pointer receiver #1

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[WIP]Unique pointer receiver #1

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7ed0746
feat: changed to unique
TLZH0001 Jan 3, 2025
0be0361
chore: added unique ptr
TLZH0001 Jan 3, 2025
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24 changes: 16 additions & 8 deletions src/yolov8/src/ros_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,20 @@ class YoloV8Node : public rclcpp::Node

// Create subscribers and publishers for all cameras
for (const std::string& topic : camera_topics_) {
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
topic + "/image", 10,
[this, topic](const sensor_msgs::msg::Image::SharedPtr msg)
rclcpp::SubscriptionOptions sub_options;
sub_options.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;

auto qos = rclcpp::QoS(10);
qos.best_effort();

rclcpp::Subscription<sensor_msgs::msg::Image>::UniquePtr subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
topic + "/image",
qos,
[this, topic](const sensor_msgs::msg::Image::UniquePtr msg)
{
this->addToBufferCallback(msg, topic);
}
},
sub_options
);

subscriptions_.push_back(subscription_);
Expand All @@ -86,11 +94,11 @@ class YoloV8Node : public rclcpp::Node
* @param image_msg: The image message from the camera
* @param topic: The ROS topic the image message was published on
*/
void addToBufferCallback(const sensor_msgs::msg::Image::SharedPtr &image_msg, const std::string topic) {
void addToBufferCallback(sensor_msgs::msg::Image::UniquePtr image_msg, const std::string topic) {
// TODO: Will this be deleted in memory since it is passed?
std::cout << "Received image message on topic " << topic << std::endl;
std::unique_lock<std::mutex> lock(buffer_mutex_);
current_buffer_[topic] = image_msg;
current_buffer_[topic] = std::move(image_msg);

// Check if ready for batching
if (current_buffer_.size() == camera_topics_.size()) {
Expand Down Expand Up @@ -200,7 +208,7 @@ class YoloV8Node : public rclcpp::Node
void preprocess_callback(std::map<std::string, cv::Mat>& images) {
for (const auto& pair : processing_buffer_) {
std::string camera_topic = pair.first;
const sensor_msgs::msg::Image::SharedPtr image_msg = pair.second;
const sensor_msgs::msg::Image::UniquePtr image_msg = pair.second;
try
{
// Share the memory with the original image
Expand Down Expand Up @@ -416,7 +424,7 @@ class YoloV8Node : public rclcpp::Node
std::map<std::string, sensor_msgs::msg::Image::SharedPtr> processing_buffer_;
std::mutex buffer_mutex_;

std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> subscriptions_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::UniquePtr> subscriptions_;
YoloV8& yoloV8_;
};

Expand Down