Depthimage to laserscan dev

[jasonjabbour]

Hi! Getting closer to finalizing the depth image to laserscan benchmark.

I had a quick question about how we are measuring power in the grey-box methodology. Could you give me an example about what I could set the POWER_LIB variable to? Also, I wanted to get a better understanding about how the robotcore-power package measures power, but I can't seem to find the source code of this package. Could you point me in the right direction?

Thanks so much!!

[jasonjabbour]

@vmayoral This benchmark is now completed and ready to be ran on your hardware! Please take a look and let me know if anything needs to be improved. This benchmark evaluates the DepthImageToLaserScanROS node from the depthimage_to_laserscan package. It also incorporates a preprocessing pipeline that converts left and right stereo images into a disparity map using the stereo_image_proc package that was previously benchmarked in the a3 benchmark. The disparity map produced by this node is then converted into a depth image before undergoing the final conversion into a laser scan. I've tested this benchmark on the r2b rosbags.

This is a visualization of the pipeline:

Images of the computational graphs can be found in the imgs directory or here

Thanks!

[jasonjabbour]

Made an improvement to the laserscan_output_component node by creating robotperf_laserscan_output_cb_init/fini tracepoints instead of using the robotperf_image_output_cb_init/fini tracepoints.

[seowwj]

Hi @jasonjabbour, I see that you've mentioned about the robotcore-power package that measures power. Did you manage to find out how it does so? I'm also looking for the same thing and would appreciate any help understanding that part 😄

Thanks!

Edit: I apologize that this may be a bit off-topic from the pull request

[jasonjabbour]

Hi @seowwj thanks for your interest. robotcore-power is a package that was developed by the acceleration robotics team and has not been open sourced. Please see this for more information!