Merge pull request #69 from rogy-AquaLab/speedup

rogy-AquaLab · Aug 17, 2024 · fb19c0a · fb19c0a
2 parents f7bb884 + feb3cf3
commit fb19c0a
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/app/imshow/imshow/imshow.py b/app/imshow/imshow/imshow.py
@@ -3,17 +3,23 @@
 import rclpy
 from cv_bridge import CvBridge
 from rclpy.node import Node
+from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 from sensor_msgs.msg import CompressedImage
 
 
 class Imshow(Node):
     def __init__(self):
         super().__init__("imshow")
+        qos_profile = QoSProfile(
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10,
+        )
         self.subscription = self.create_subscription(
             CompressedImage,
             "camera_image",
             self.listener_callback,
-            10,
+            qos_profile,
         )
         self.bridge = CvBridge()
 

diff --git a/device/camera_reader/camera_reader/camera.py b/device/camera_reader/camera_reader/camera.py
@@ -17,6 +17,11 @@ def __init__(self):
         )
         assert isinstance(camera_id, int)
         self.cap = cv2.VideoCapture(camera_id)
+        # カメラ解像度の設定
+        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        # バッファサイズの設定
+        self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
         self.bridge = CvBridge()
         if not self.cap.isOpened():
             self.get_logger().error("Failed to open camera")