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Allow camera flip as a ros launch argument #226

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Merged
adujardin merged 3 commits into from
Aug 6, 2018
Merged

Allow camera flip as a ros launch argument #226

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492e285
- Add camera flip argument
frk2 Jul 3, 2018
c762556
Merge remote-tracking branch 'upstream/master'
frk2 Jul 27, 2018
e05c7d3
- Make it work with the new ROS package
frk2 Jul 27, 2018
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4 changes: 4 additions & 0 deletions launch/zed_camera.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<!-- Publish urdf zed -->
<arg name="publish_urdf" default="true" />

<!-- to flip or not to flip -->
<arg name="camera_flip" default="true" />
<arg name="rgb_topic" default="rgb/image_rect_color" />
<arg name="rgb_info_topic" default="rgb/camera_info" />
<arg name="depth_topic" default="depth/depth_registered" />
Expand All @@ -61,6 +63,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<!-- publish pose frame -->
<param name="publish_tf" value="$(arg publish_tf)" />

<!-- flip camera -->
<param name="camera_flip" value="$(arg camera_flip)" />
<!-- Configuration frame camera -->
<param name="pose_frame" value="$(arg pose_frame)" />
<param name="odometry_frame" value="$(arg odometry_frame)" />
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1 change: 1 addition & 0 deletions src/nodelet/include/zed_wrapper_nodelet.hpp
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Expand Up @@ -284,6 +284,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
boost::shared_ptr<tf2_ros::Buffer> tfBuffer;
boost::shared_ptr<tf2_ros::TransformListener> tfListener;
bool publishTf;
bool cameraFlip;

// Launch file parameters
int resolution;
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6 changes: 5 additions & 1 deletion src/nodelet/src/zed_wrapper_nodelet.cpp
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Expand Up @@ -132,6 +132,8 @@ void ZEDWrapperNodelet::onInit() {
// Publish odometry tf
nhNs.param<bool>("publish_tf", publishTf, true);

nhNs.param<bool>("camera_flip", cameraFlip, false);

if (serial_number > 0)
NODELET_INFO_STREAM("SN : " << serial_number);

Expand All @@ -152,6 +154,7 @@ void ZEDWrapperNodelet::onInit() {
// Status of map TF
NODELET_INFO_STREAM("Publish " << mapFrameId << " ["
<< (publishTf ? "TRUE" : "FALSE") << "]");
NODELET_INFO_STREAM("Camera Flip [" << (cameraFlip ? "TRUE" : "FALSE") << "]");

// Status of odometry TF
// NODELET_INFO_STREAM("Publish " << odometry_frame_id << " [" << (publish_tf
Expand Down Expand Up @@ -338,7 +341,8 @@ void ZEDWrapperNodelet::onInit() {
param.sdk_verbose = verbose;
param.sdk_gpu_id = gpuId;
param.depth_stabilization = depthStabilization;

param.camera_image_flip = cameraFlip;

sl::ERROR_CODE err = sl::ERROR_CODE_CAMERA_NOT_DETECTED;
while (err != sl::SUCCESS) {
err = zed.open(param);
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