Update mynteye.launch

include/mynteye/types.h

@@ -280,15 +280,15 @@ enum class Resolution : std::uint8_t {
  */
 enum class FrameRate : std::uint8_t {
   /** 10 fps */
-  RATE_10_FPS,
+  RATE_10_FPS = 10,
   /** 20 fps */
-  RATE_20_FPS,
+  RATE_20_FPS = 20,
   /** 20 fps */
-  RATE_25_FPS,
+  RATE_25_FPS = 25,
   /** 30 fps */
-  RATE_30_FPS,
+  RATE_30_FPS = 30,
   /** 60 fps */
-  RATE_60_FPS,
+  RATE_60_FPS = 60,
   /** Last guard */
   LAST
 };
@@ -372,6 +372,8 @@ struct MYNTEYE_API StreamRequest {
 
   StreamRequest(Resolution res, Format format, FrameRate rate)
       : format(format) {
+    fps = static_cast<uint16_t>(rate);
+
     switch (res) {
       case Resolution::RES_752x480:
         width = 480, height = 752;
@@ -386,27 +388,6 @@ struct MYNTEYE_API StreamRequest {
         width = 480, height = 752;
         break;
     }
-
-    switch (rate) {
-      case FrameRate::RATE_10_FPS:
-        fps = 10;
-        break;
-      case FrameRate::RATE_20_FPS:
-        fps = 20;
-        break;
-      case FrameRate::RATE_25_FPS:
-        fps = 25;
-        break;
-      case FrameRate::RATE_30_FPS:
-        fps = 30;
-        break;
-      case FrameRate::RATE_60_FPS:
-        fps = 60;
-        break;
-      default:
-        fps = 25;
-        break;
-    }
   }
 
   bool operator==(const StreamRequest &other) const {

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -35,6 +35,27 @@
 
   <!-- stream toggles -->
 
+  <!-- Resolution -->
+  <arg name="res_752x480"    default="0" />
+  <arg name="res_1280x400"   default="1" />
+  <arg name="res_2560x800"   default="2" />
+
+  <!-- FrameRate -->
+  <arg name="rate_10_fps"   default="10" />
+  <arg name="rate_20_fps"   default="20" />
+  <arg name="rate_25_fps"   default="25" />
+  <arg name="rate_30_fps"   default="30" />
+  <arg name="rate_60_fps"   default="60" />
+
+  <!-- Format -->
+  <arg name="grey"    default="1497715271" />
+  <arg name="yuyv"   default="1497715271" />
+  <arg name="bgr888"   default="861030210" />
+
+  <arg name="resolution" default="$(arg res_1280x400)" />
+  <arg name="framerate" default="$(arg rate_30_fps)" />
+  <arg name="format" default="$(arg bgr888)" />
+
   <arg name="enable_left_rect" default="false" />
   <arg name="enable_right_rect" default="false" />
   <arg name="enable_disparity" default="false" />
@@ -130,6 +151,11 @@
       <param name="enable_points" value="$(arg enable_points)" />
       <param name="enable_depth" value="$(arg enable_depth)" />
 
+      <!-- init params -->
+      <param name="resolution" value="$(arg resolution)" />
+      <param name="framerate" value="$(arg framerate)" />
+      <param name="format" value="$(arg format)" />
+
       <!-- device options -->
 
       <param name="brightness" value="$(arg brightness)" />

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -103,11 +103,18 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void onInit() override {
-    initDevice();
-    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
-
     nh_ = getMTNodeHandle();
     private_nh_ = getMTPrivateNodeHandle();
+    int resolution = 0;
+    int format = 0;
+    int framerate = 20;
+    private_nh_.getParam("resolution", resolution);
+    private_nh_.getParam("framerate", framerate);
+    private_nh_.getParam("format", format);
+    frame_rate_ = framerate;
+
+    initDevice(resolution, format, framerate);
+    NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
 
     // node params
 
@@ -186,7 +193,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
       NODELET_INFO_STREAM(it->first << ": " << api_->GetOptionValue(it->first));
     }
-    frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
 
     // publishers
 
@@ -717,7 +723,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
  private:
-  void initDevice() {
+  void initDevice(int resolution, int format, int framerate) {
     NODELET_INFO_STREAM("Detecting MYNT EYE devices");
 
     Context context;
@@ -752,8 +758,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       }
     }
 
-    api_ = API::Create(device, Resolution::RES_1280x400);
+    api_ = API::Create(device, static_cast<Resolution>(resolution));
-    api_->SetStreamRequest(Format::BGR888, FrameRate::RATE_20_FPS);
+    api_->SetStreamRequest(static_cast<Format>(format),
+                            static_cast<FrameRate>(framerate));
 
     computeRectTransforms();
   }
@@ -765,7 +772,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
 
     cv::Size size{in_left.width, in_left.height};
-
     cv::Mat M1 =
         (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
          in_left.cy, 0, 0, 1);