From ba4f98bbf9ad966c187d073c8e591d5c9b70abd2 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Mon, 17 May 2021 17:39:38 +0200
Subject: [PATCH] Added image_proc crop
---
config/adc_common/crop_front_image.yaml | 2 ++
launch/adc_global_localization.launch | 19 +++++++++++++++----
2 files changed, 17 insertions(+), 4 deletions(-)
create mode 100644 config/adc_common/crop_front_image.yaml
diff --git a/config/adc_common/crop_front_image.yaml b/config/adc_common/crop_front_image.yaml
new file mode 100644
index 0000000..2f013ee
--- /dev/null
+++ b/config/adc_common/crop_front_image.yaml
@@ -0,0 +1,2 @@
+y_offset: 480
+height: 320
diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index bef79cc..f91451c 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -33,8 +33,8 @@
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
- <remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/inverted_image_raw" />
- <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
+ <remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" />
+ <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
@@ -51,10 +51,21 @@
<arg name="node_name" value="iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
- <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
- <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
+ <arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
+ <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>
</include>
+ <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
+
+ <node name="crop_image"
+ pkg="nodelet"
+ type="nodelet"
+ args="load image_proc/crop_decimate standalone_nodelet">
+ <remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/>
+ <remap from="camera_out" to="/$(arg car_name)/sensors/basler_camera_cropped"/>
+ <rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/>
+ </node>
+
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
<arg name="output" value="$(arg output)"/>
--
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