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Remove vendored netty classes, because we actually use Netty in some …
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…places.
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@calvertdw
calvertdw committed Dec 5, 2024
1 parent 1e8d365 commit de7f595
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Showing 16 changed files with 214 additions and 1,844 deletions.
1 change: 0 additions & 1 deletion atlas/src/main/java/us/ihmc/atlas/jfxvisualizer/AtlasHeightMapTopicConverter.java
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Expand Up @@ -3,7 +3,6 @@
import perception_msgs.msg.dds.PlanarRegionsListMessage;
import map_sense.RawGPUPlanarRegionList;
import org.apache.commons.lang3.mutable.MutableInt;
import org.jboss.netty.buffer.ChannelBuffer;
//import org.jboss.netty.buffer.LittleEndianHeapChannelBuffer;
import org.ros.message.Duration;
import org.ros.message.Time;
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60 changes: 30 additions & 30 deletions atlas/src/main/java/us/ihmc/atlas/sensors/AtlasD435ToMultiSenseLeftEyeBridge.java
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Expand Up @@ -70,36 +70,36 @@ public void onNewMessage(sensor_msgs.CompressedImage ros1Image)
syncedRobot.update();
// if (syncedRobot.getDataReceptionTimerSnapshot().isRunning(3.0))
{
try
{
byte[] payload = ros1Image.getData().array();
int offset = ros1Image.getData().arrayOffset();
BufferedImage bufferedImage = ImageIO.read(new ByteArrayInputStream(payload, offset, payload.length - offset));

YUVPicture picture = converter.fromBufferedImage(bufferedImage, YUVPicture.YUVSubsamplingType.YUV420);
ByteBuffer buffer = encoder.encode(picture, 75);

byte[] data = new byte[buffer.remaining()];
buffer.get(data);

FramePose3DReadOnly ousterPose = syncedRobot.getFramePoseReadOnly(HumanoidReferenceFrames::getOusterLidarFrame);
ousterPose.get(transformToWorld);

VideoPacket message = new VideoPacket();
message.setTimestamp(System.nanoTime());
message.getData().add(data);
message.getPosition().set(ousterPose.getPosition());
message.getOrientation().set(ousterPose.getOrientation());
message.setVideoSource(VideoPacket.VIDEO_SOURCE_MULTISENSE_LEFT_EYE);
message.getIntrinsicParameters().set(HumanoidMessageTools.toIntrinsicParametersMessage(depthCameraIntrinsics));

ros2Helper.publish(PerceptionAPI.VIDEO, message);
}
catch (Exception e)
{
LogTools.error(e.getMessage());
e.printStackTrace();
}
// try
// {
// byte[] payload = ros1Image.getData().array();
// int offset = ros1Image.getData().arrayOffset();
// BufferedImage bufferedImage = ImageIO.read(new ByteArrayInputStream(payload, offset, payload.length - offset));
//
// YUVPicture picture = converter.fromBufferedImage(bufferedImage, YUVPicture.YUVSubsamplingType.YUV420);
// ByteBuffer buffer = encoder.encode(picture, 75);
//
// byte[] data = new byte[buffer.remaining()];
// buffer.get(data);
//
// FramePose3DReadOnly ousterPose = syncedRobot.getFramePoseReadOnly(HumanoidReferenceFrames::getOusterLidarFrame);
// ousterPose.get(transformToWorld);
//
// VideoPacket message = new VideoPacket();
// message.setTimestamp(System.nanoTime());
// message.getData().add(data);
// message.getPosition().set(ousterPose.getPosition());
// message.getOrientation().set(ousterPose.getOrientation());
// message.setVideoSource(VideoPacket.VIDEO_SOURCE_MULTISENSE_LEFT_EYE);
// message.getIntrinsicParameters().set(HumanoidMessageTools.toIntrinsicParametersMessage(depthCameraIntrinsics));
//
// ros2Helper.publish(PerceptionAPI.VIDEO, message);
// }
// catch (Exception e)
// {
// LogTools.error(e.getMessage());
// e.printStackTrace();
// }
}
});
}
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14 changes: 6 additions & 8 deletions ...s/src/main/java/us/ihmc/atlas/sensors/AtlasOusterL515ZED2FusedColoredROS1ToREABridge.java
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Expand Up @@ -2,8 +2,6 @@

import perception_msgs.msg.dds.LidarScanMessage;
import controller_msgs.msg.dds.StereoVisionPointCloudMessage;
import org.bytedeco.javacpp.BytePointer;
import org.jboss.netty.buffer.ChannelBuffer;
import sensor_msgs.Image;
import sensor_msgs.PointCloud2;
import us.ihmc.atlas.AtlasRobotModel;
Expand Down Expand Up @@ -94,12 +92,12 @@ public void onNewMessage(PointCloud2 pointCloud2)
Point3D[] l515Points = null;
if (latestL515PointCloud2 != null && zed2Image != null)
{
ChannelBuffer l515NettyImageData = latestL515PointCloud2.getData();
ByteBuffer l515DataByteBuffer = l515NettyImageData.toByteBuffer();
int arrayOffset = l515NettyImageData.arrayOffset();
l515DataByteBuffer.position(arrayOffset);
ByteBuffer offsetByteBuffer = l515DataByteBuffer.slice();
BytePointer imageDataPointer = new BytePointer(offsetByteBuffer);
// ChannelBuffer l515NettyImageData = latestL515PointCloud2.getData();
// ByteBuffer l515DataByteBuffer = l515NettyImageData.toByteBuffer();
// int arrayOffset = l515NettyImageData.arrayOffset();
// l515DataByteBuffer.position(arrayOffset);
// ByteBuffer offsetByteBuffer = l515DataByteBuffer.slice();
// BytePointer imageDataPointer = new BytePointer(offsetByteBuffer);

// l515 is 4 float 32s, X,Y,Z,RGB
// Point4fVector l515Point3fVector = new Point4fVector(imageDataPointer);
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13 changes: 6 additions & 7 deletions atlas/src/main/java/us/ihmc/atlas/sensors/AtlasZED2LeftEyeToMultiSenseLeftEyeBridge.java
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Expand Up @@ -7,7 +7,6 @@
import org.bytedeco.opencv.global.opencv_imgcodecs;
import org.bytedeco.opencv.global.opencv_imgproc;
import org.bytedeco.opencv.opencv_core.Mat;
import org.jboss.netty.buffer.ChannelBuffer;
import us.ihmc.atlas.AtlasRobotModel;
import us.ihmc.atlas.AtlasRobotVersion;
import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
Expand Down Expand Up @@ -95,18 +94,18 @@ public void onNewMessage(sensor_msgs.Image ros1Image)
try
{

ChannelBuffer nettyImageData = ros1Image.getData();
ByteBuffer dataByteBuffer = nettyImageData.toByteBuffer();
int arrayOffset = nettyImageData.arrayOffset();
dataByteBuffer.position(arrayOffset);
ByteBuffer offsetByteBuffer = dataByteBuffer.slice();
// ChannelBuffer nettyImageData = ros1Image.getData();
// ByteBuffer dataByteBuffer = nettyImageData.toByteBuffer();
// int arrayOffset = nettyImageData.arrayOffset();
// dataByteBuffer.position(arrayOffset);
// ByteBuffer offsetByteBuffer = dataByteBuffer.slice();
// byte[] nettyBackingArray = nettyImageData.array();
// int dataLength = nettyBackingArray.length - arrayOffset;
// ByteBuffer offsetByteBuffer = ByteBuffer.wrap(nettyBackingArray, arrayOffset, dataLength);
// ByteBuffer offsetByteBuffer = new ByteBuffer(0, 0, dataLength, dataLength, nettyBackingArray, arrayOffset);
// System.out.println(dataByteBuffer.isDirect());

BytePointer imageDataPointer = new BytePointer(offsetByteBuffer);
BytePointer imageDataPointer = null;
inputImageMat.data(imageDataPointer);

opencv_imgproc.cvtColor(inputImageMat, decodedImageMat, opencv_imgproc.COLOR_BGR2YUV_I420);
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62 changes: 31 additions & 31 deletions ...r-interfaces/src/main/java/us/ihmc/avatar/sensors/realsense/RealsenseVideoROS1Bridge.java
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Expand Up @@ -74,38 +74,38 @@ private void waitThenAct(sensor_msgs.CompressedImage ros1Image)

private void compute(sensor_msgs.CompressedImage ros1Image)
{
try
{
byte[] payload = ros1Image.getData().array();
int offset = ros1Image.getData().arrayOffset();
BufferedImage bufferedImage = ImageIO.read(new ByteArrayInputStream(payload, offset, payload.length - offset));

YUVPicture picture = converter.fromBufferedImage(bufferedImage, YUVPicture.YUVSubsamplingType.YUV420);
ByteBuffer buffer = encoder.encode(picture, 75);

byte[] data = new byte[buffer.remaining()];
buffer.get(data);

VideoPacket message = new VideoPacket();
message.setTimestamp(System.nanoTime());
message.getData().add(data);

publisher.publish(message);
}
catch (Exception e)
{
LogTools.error(e.getMessage());
e.printStackTrace();
}
// try
// {
// byte[] payload = ros1Image.getData().array();
// int offset = ros1Image.getData().arrayOffset();
// BufferedImage bufferedImage = ImageIO.read(new ByteArrayInputStream(payload, offset, payload.length - offset));
//
// YUVPicture picture = converter.fromBufferedImage(bufferedImage, YUVPicture.YUVSubsamplingType.YUV420);
// ByteBuffer buffer = encoder.encode(picture, 75);
//
// byte[] data = new byte[buffer.remaining()];
// buffer.get(data);
//
// VideoPacket message = new VideoPacket();
// message.setTimestamp(System.nanoTime());
// message.getData().add(data);
//
// publisher.publish(message);
// }
// catch (Exception e)
// {
// LogTools.error(e.getMessage());
// e.printStackTrace();
// }
}

// Eventually it would be nice to use Compressed Image
private void createROS2CompressedImage(sensor_msgs.CompressedImage ros1Image)
{
CompressedImage ros2Image = new CompressedImage();
byte[] data = ros1Image.getData().array();
int dataOffset = ros1Image.getData().arrayOffset();
int length = data.length;
ros2Image.getData().add(data, dataOffset, length - dataOffset);
}
// private void createROS2CompressedImage(sensor_msgs.CompressedImage ros1Image)
// {
// CompressedImage ros2Image = new CompressedImage();
// byte[] data = ros1Image.getData().array();
// int dataOffset = ros1Image.getData().arrayOffset();
// int length = data.length;
// ros2Image.getData().add(data, dataOffset, length - dataOffset);
// }
}
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