caperren/osurc_mars_rover_2017_2018
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Got farther with mapping, heading indication, and firmware with cal for IMU. Need to figure out which direction IMU is in for ROS to work right.

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This commit is contained in:
Corwin Perren
2018-07-27 21:25:24 -07:00
parent 63454f22d1
commit 9d3969f9e4
9 changed files with 241 additions and 61 deletions
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28
software/ros_packages/rover_camera/src/rover_camera.cpp
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@@ -26,6 +26,8 @@ public:
node_handle->param("device_path", capture_device_path, std::string("/dev/video0"));
node_handle->param("fps", fps, 30);
node_handle->param("upside_down", upside_down, false);
node_handle->param("large_image_width", large_image_width, 1280);
node_handle->param("large_image_height", large_image_height, 720);
node_handle->param("medium_image_width", medium_image_width, 640);
@@ -97,30 +99,22 @@ public:
}
if(!image_large.empty()){
bool large_ready_to_broadcast = false;
bool medium_ready_to_broadcast = false;
bool small_ready_to_broadcast = false;
if(upside_down){
cv::flip(image_large, image_large, -1);
}
if(broadcast_large_image){
large_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_large).toImageMsg();
large_ready_to_broadcast = true;
}
if(broadcast_medium_image){
large_image_publisher.publish(large_image_message);
}else if(broadcast_medium_image){
cv::resize(image_large, image_medium, cv::Size(medium_image_width, medium_image_height));
medium_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_medium).toImageMsg();
medium_ready_to_broadcast = true;
}
if(broadcast_small_image){
medium_image_publisher.publish(medium_image_message);
}else if(broadcast_small_image){
cv::resize(image_large, image_small, cv::Size(small_image_width, small_image_height));
small_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_small).toImageMsg();
small_ready_to_broadcast = true;
small_image_publisher.publish(small_image_message);
}
if(large_ready_to_broadcast){ large_image_publisher.publish(large_image_message); };
if(medium_ready_to_broadcast){ medium_image_publisher.publish(medium_image_message); };
if(small_ready_to_broadcast){ small_image_publisher.publish(small_image_message); };
}
ros::spinOnce();
@@ -152,6 +146,8 @@ private:
ros::Rate *loop_rate;
bool upside_down;
int large_image_width;
int large_image_height;
int medium_image_width;