From 492e285347d3fa953ae5b2a5723bdb44c1722812 Mon Sep 17 00:00:00 2001
From: Faraz Khan <farazrkhan@gmail.com>
Date: Tue, 3 Jul 2018 11:09:36 -0700
Subject: [PATCH 1/2] - Add camera flip argument

---
 launch/zed_camera.launch    | 6 ++++++
 src/zed_wrapper_nodelet.cpp | 4 ++++
 2 files changed, 10 insertions(+)

diff --git a/launch/zed_camera.launch b/launch/zed_camera.launch
index 386257d0..740cdb46 100644
--- a/launch/zed_camera.launch
+++ b/launch/zed_camera.launch
@@ -33,12 +33,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <arg name="depth_frame"           default="zed_depth_camera" />
     <!-- Publish urdf zed -->
     <arg name="publish_urdf"          default="true" />
+
+    <!-- to flip or not to flip -->
+    <arg name="camera_flip"           default="true" />
     
     <node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node" output="screen" required="true"><!-- launch-prefix="valgrind" --> 
 
         <param name="camera_model" value="$(arg camera_model)" />
         <!-- publish odometry frame -->
         <param name="publish_tf"            value="$(arg publish_tf)" />
+
+        <!-- flip camera -->
+        <param name="camera_flip"           value="$(arg camera_flip)" />
         <!-- Configuration frame camera -->    
         <param name="odometry_frame"        value="$(arg odometry_frame)" />
         <param name="base_frame"            value="$(arg base_frame)" />
diff --git a/src/zed_wrapper_nodelet.cpp b/src/zed_wrapper_nodelet.cpp
index 2120882e..c80422ae 100644
--- a/src/zed_wrapper_nodelet.cpp
+++ b/src/zed_wrapper_nodelet.cpp
@@ -124,6 +124,7 @@ namespace zed_wrapper {
         boost::shared_ptr<tf2_ros::Buffer> tfBuffer;
         boost::shared_ptr<tf2_ros::TransformListener> tf_listener;
         bool publish_tf;
+        bool camera_flip;
 
         // Launch file parameters
         int resolution;
@@ -809,6 +810,7 @@ namespace zed_wrapper {
 
             // Publish odometry tf
             nh_ns.param<bool>("publish_tf", publish_tf, true);
+            nh_ns.param<bool>("camera_flip", camera_flip, false);
 
             if (serial_number > 0)
                 ROS_INFO_STREAM("SN : " << serial_number);
@@ -820,6 +822,7 @@ namespace zed_wrapper {
             ROS_INFO_STREAM("depth_frame: " << depth_frame_id);
             // Status of odometry TF
             ROS_INFO_STREAM("Publish " << odometry_frame_id << " [" << (publish_tf ? "TRUE" : "FALSE") << "]");
+            ROS_INFO_STREAM("Camera Flip [" << (camera_flip ? "TRUE" : "FALSE") << "]");
 
             std::string img_topic = "image_rect_color";
             std::string img_raw_topic = "image_raw_color";
@@ -920,6 +923,7 @@ namespace zed_wrapper {
             param.sdk_verbose = true;
             param.sdk_gpu_id = gpu_id;
             param.depth_stabilization = depth_stabilization;
+            param.camera_image_flip = camera_flip;
 
             sl::ERROR_CODE err = sl::ERROR_CODE_CAMERA_NOT_DETECTED;
             while (err != sl::SUCCESS) {

From e05c7d3c2c129330c0f21f5dcc3e35bfd0f593e6 Mon Sep 17 00:00:00 2001
From: Faraz Khan <farazrkhan@gmail.com>
Date: Thu, 26 Jul 2018 20:56:46 -0700
Subject: [PATCH 2/2] - Make it work with the new ROS package

---
 src/nodelet/src/zed_wrapper_nodelet.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/nodelet/src/zed_wrapper_nodelet.cpp b/src/nodelet/src/zed_wrapper_nodelet.cpp
index d4cb0f8d..8c02b21f 100644
--- a/src/nodelet/src/zed_wrapper_nodelet.cpp
+++ b/src/nodelet/src/zed_wrapper_nodelet.cpp
@@ -341,7 +341,7 @@ void ZEDWrapperNodelet::onInit() {
   param.sdk_verbose = verbose;
   param.sdk_gpu_id = gpuId;
   param.depth_stabilization = depthStabilization;
-  param.camera_flip = cameraFlip;
+  param.camera_image_flip = cameraFlip;
   
   sl::ERROR_CODE err = sl::ERROR_CODE_CAMERA_NOT_DETECTED;
   while (err != sl::SUCCESS) {