From 3272e1eee48725c499766c6521b11a9d302e7b29 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 16 Feb 2015 16:31:08 +0000
Subject: [PATCH] Changed the node to publish raw images. Added a launch file
to launch all the necessary nodes for the ar_pose detection.
---
launch/camera_flea.launch | 6 +--
launch/firewire_arpose_nodelet.launch | 65 ++++++++++++++++++++++++++
launch/firewire_nodelet.launch | 2 +-
src/firewire_camera_driver_nodelet.cpp | 6 ++-
4 files changed, 74 insertions(+), 5 deletions(-)
create mode 100755 launch/firewire_arpose_nodelet.launch
diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch
index 5d7e9ab..fc4faa7 100644
--- a/launch/camera_flea.launch
+++ b/launch/camera_flea.launch
@@ -4,12 +4,12 @@
name="iri_firewire_camera"
type="iri_firewire_camera"
output="screen">
- <param name="Camera_node" value="0" />
+ <param name="Camera_node" value="2" />
<param name="Color_coding" value="0" />
<param name="ISO_speed" value="400" />
<param name="Framerate" value="30" />
- <param name="Image_width" value="640" />
- <param name="Image_height" value="480" />
+ <param name="Image_width" value="1024" />
+ <param name="Image_height" value="768" />
</node>
<!-- <node pkg="image_view"
diff --git a/launch/firewire_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch
new file mode 100755
index 0000000..5a26209
--- /dev/null
+++ b/launch/firewire_arpose_nodelet.launch
@@ -0,0 +1,65 @@
+<launch>
+ <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
+ <param name="Camera_node" value="2" />
+ <param name="frame_id" value="bumblebee_frame" type="string" />
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
+ <param name="ISO_speed" value="400" />
+ <param name="Framerate" value="7.5" />
+ <param name="Color_coding" value="6" />
+ <param name="Image_width" value="1024" />
+ <param name="Image_height" value="768" />
+ <param name="autosize" value="true"/>
+ <remap from="/standalone_nodelet/camera_image"
+ to="/camera/image_raw" />
+ <remap from="/standalone_nodelet/camera_info"
+ to="/camera/camera_info" />
+ </node>
+
+ <!-- firewire camera driver -->
+ <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen">
+ </node>
+
+ <node pkg ="nodelet" type="nodelet" name="image_proc_debayer" args="load image_proc/debayer standalone_nodelet" output="screen">
+ <remap from="/image_raw"
+ to="/camera/image_raw"/>
+ <remap from="/camera_info"
+ to="/camera/camera_info"/>
+ <remap from="/image_mono"
+ to="/camera/image_mono"/>
+ </node>
+ <!-- image rectification -->
+ <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen">
+ <remap from="/image_mono"
+ to="/camera/image_mono"/>
+ <remap from="/camera_info"
+ to="/camera/camera_info"/>
+ <remap from="/image_rect"
+ to="/camera/image_rect"/>
+ </node>
+
+ <node pkg ="nodelet" type="nodelet" name="local_th" args="load iri_image_local_binarization/ImageLocalBinNodelet standalone_nodelet" output="screen">
+ <remap from="local_th/image_in/image_raw"
+ to="/camera/image_rect"/>
+ <remap from="local_th/image_in/camera_info"
+ to="/camera/camera_info"/>
+ <remap from="local_th/image_out/image_raw"
+ to="/ar_pose/image_raw"/>
+ <remap from="local_th/image_out/camera_info"
+ to="/ar_pose/camera_info"/>
+ </node>
+
+ <node name="ar_pose"
+ pkg ="ar_pose"
+ type="ar_multi"
+ respawn="false"
+ output="screen">
+ <param name="marker_pattern_list" type="string" value="$(find iri_ladybug2)/data/object_4x4_front"/>
+ <param name="threshold" type="int" value="100"/>
+ <param name="use_history" type="bool" value="true"/>
+ <remap from="/camera/image_raw"
+ to="/ar_pose/image_raw"/>
+ <remap from="/camera/camera_info"
+ to="/ar_pose/camera_info"/>
+ </node>
+
+</launch>
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
index 96d17b4..07bcfc9 100755
--- a/launch/firewire_nodelet.launch
+++ b/launch/firewire_nodelet.launch
@@ -1,6 +1,6 @@
<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
- <param name="Camera_node" value="0" />
+ <param name="Camera_node" value="1" />
<param name="frame_id" value="bumblebee_frame" type="string" />
<param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
<param name="ISO_speed" value="400" />
diff --git a/src/firewire_camera_driver_nodelet.cpp b/src/firewire_camera_driver_nodelet.cpp
index 93221ed..1979648 100755
--- a/src/firewire_camera_driver_nodelet.cpp
+++ b/src/firewire_camera_driver_nodelet.cpp
@@ -72,7 +72,7 @@ void FirewireCameraDriverNode::mainNodeThread(void)
this->Image_msg_->height=config.height;
this->Image_msg_->step=config.width*config.depth/8;
this->Image_msg_->data=std::vector<unsigned char>(image_data,image_data+config.width*config.height*config.depth/8);
- if(config.coding==MONO || config.coding==RAW)
+ if(config.coding==MONO)
{
if(config.depth==DEPTH8)
this->Image_msg_->encoding="8UC1";
@@ -81,6 +81,10 @@ void FirewireCameraDriverNode::mainNodeThread(void)
else
this->Image_msg_->encoding="16UC1";
}
+ else if(config.coding==RAW)
+ {
+ this->Image_msg_->encoding="bayer_rggb8";
+ }
else if(config.coding==YUV)
{
this->Image_msg_->encoding="yuv422";
--
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