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feat(*): add depth resize

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This commit is contained in:
kalman
2019-03-15 17:10:52 +08:00
parent 189a2bd6b7
commit 620b834b6c
8 changed files with 70 additions and 15 deletions
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12
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@@ -54,7 +54,14 @@
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
<arg name="index_s2_6" default="6" />
<arg name="request_index" default="$(arg index_s2_2)" />
<arg name="standard2/request_index" default="$(arg index_s2_2)" />
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
<arg name="index_s_0" default="0" />
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
<arg name="index_s_1" default="1" />
<arg name="standard/request_index" default="$(arg index_s_0)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
@@ -259,7 +266,8 @@
<param name="enable_depth" value="$(arg enable_depth)" />
<!-- stream request index -->
<param name="request_index" value="$(arg request_index)" />
<param name="standard/request_index" value="$(arg standard/request_index)" />
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
<!-- device options of standard-->

13
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@@ -1062,7 +1062,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
model_ = api_->GetModel();
if (model_ == Model::STANDARD2 || model_ == Model::STANDARD210A) {
private_nh_.getParam("request_index", request_index);
private_nh_.getParam("standard2/request_index", request_index);
switch (request_index) {
case 0:
case 4:
@@ -1082,7 +1082,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
}
if (model_ == Model::STANDARD) {
request_index = 0;
private_nh_.getParam("standard/request_index", request_index);
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
}
@@ -1217,11 +1217,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
camera_info->header.frame_id = frame_ids_[stream];
camera_info->width = in_base->width;
camera_info->height = in_base->height;
if (in_base->calib_model() == CalibrationModel::PINHOLE) {
auto in = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_base);
in -> ResizeIntrinsics();
camera_info->width = in_base->width;
camera_info->height = in_base->height;
// [fx 0 cx]
// K = [ 0 fy cy]
// [ 0 0 1]
@@ -1253,7 +1254,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
} else if (in_base->calib_model() == CalibrationModel::KANNALA_BRANDT) {
auto in = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_base);
in -> ResizeIntrinsics();
camera_info->width = in_base->width;
camera_info->height = in_base->height;
camera_info->distortion_model = "kannala_brandt";
// coeffs: k2,k3,k4,k5,mu,mv,u0,v0