caperren/osurc_mars_rover_2017_2018
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Added thrid resolution for cameras

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Corwin Perren
2018-01-20 17:16:01 -08:00
parent 84ec2ebcfd
commit c49b90b038
1 changed files with 27 additions and 17 deletions
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44
rover/rover_camera/src/rover_camera.cpp
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@@ -16,6 +16,8 @@ int main(int argc, char** argv)
int large_image_width; int large_image_width;
int large_image_height; int large_image_height;
int medium_image_width;
int medium_image_height;
int small_image_width; int small_image_width;
int small_image_height; int small_image_height;
@@ -27,8 +29,10 @@ int main(int argc, char** argv)
node_handle.param("large_image_width", large_image_width, 1280); node_handle.param("large_image_width", large_image_width, 1280);
node_handle.param("large_image_height", large_image_height, 720); node_handle.param("large_image_height", large_image_height, 720);
node_handle.param("small_image_width", small_image_width, 640); node_handle.param("medium_image_width", medium_image_width, 640);
node_handle.param("small_image_height", small_image_height, 360); node_handle.param("medium_image_height", medium_image_height, 360);
node_handle.param("small_image_width", small_image_width, 256);
node_handle.param("small_image_height", small_image_height, 144);
cv::VideoCapture cap(capture_device_path); cv::VideoCapture cap(capture_device_path);
@@ -42,32 +46,38 @@ int main(int argc, char** argv)
} }
std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height); std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
std::string medium_image_node_name = "image_" + std::to_string(medium_image_width) + "x" + std::to_string(medium_image_height);
std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height); std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
image_transport::ImageTransport full_res_image_transport(node_handle); image_transport::ImageTransport large_image_transport(node_handle);
image_transport::ImageTransport lower_res_image_transport(node_handle); image_transport::ImageTransport medium_image_transport(node_handle);
image_transport::ImageTransport small_image_transport(node_handle);
image_transport::Publisher full_size_publisher = full_res_image_transport.advertise(large_image_node_name, 1); image_transport::Publisher large_image_publisher = large_image_transport.advertise(large_image_node_name, 1);
image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise(small_image_node_name, 1); image_transport::Publisher medium_image_publisher = medium_image_transport.advertise(medium_image_node_name, 1);
image_transport::Publisher small_image_publisher = small_image_transport.advertise(small_image_node_name, 1);
cv::Mat image; cv::Mat image_large;
cv::Mat image_smaller; cv::Mat image_medium;
cv::Mat image_small;
ros::Rate loop_rate(fps + 5);
ros::Rate loop_rate(fps + 2);
while (ros::ok()) { while (ros::ok()) {
cap.read(image); cap.read(image_large);
if(!image.empty()){ if(!image_large.empty()){
cv::resize(image, image_smaller, cv::Size(small_image_width, small_image_height)); cv::resize(image_large, image_medium, cv::Size(medium_image_width, medium_image_height));
cv::resize(image_medium, image_small, cv::Size(small_image_width, small_image_height));
sensor_msgs::ImagePtr full_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg(); sensor_msgs::ImagePtr large_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_large).toImageMsg();
sensor_msgs::ImagePtr lower_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_smaller).toImageMsg(); sensor_msgs::ImagePtr medium_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_medium).toImageMsg();
sensor_msgs::ImagePtr small_image_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_small).toImageMsg();
full_size_publisher.publish(full_res_message); large_image_publisher.publish(large_image_message);
lower_size_publisher.publish(lower_res_message); medium_image_publisher.publish(medium_image_message);
small_image_publisher.publish(small_image_message);
} }
ros::spinOnce(); ros::spinOnce();