Hello - I am new to using the Oak-D camera. I want to use the camera with ROS. The camera is mounted upside down, so I need to flip the image. I can use rgb_publisher.cpp from the depthai-ros repo to incorporate the camera with ROS, but my camera image is upside down. I tried to incorporate code from ImageManip rotate as documented in this example to rotate my image 180 degrees, but my image then looks very goofy and fuzzy. Below is my code. Any idea what I'm doing wrong?
Thanks in advance!
#include <iostream>
#include <cstdio>
// #include "utility.hpp"
#include "sensor_msgs/Image.h"
#include <camera_info_manager/camera_info_manager.h>
// Inludes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
#include <depthai_bridge/BridgePublisher.hpp>
#include <depthai_bridge/ImageConverter.hpp>
dai::Pipeline createPipeline(){
dai::Pipeline pipeline;
auto colorCam = pipeline.create<dai::node::ColorCamera>();
colorCam->setPreviewSize(300, 300);
colorCam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
colorCam->setInterleaved(false);
auto manipRgb = pipeline.create<dai::node::ImageManip>();
dai::RotatedRect rgbRr = {{colorCam->getPreviewWidth() / 2.0f, colorCam->getPreviewHeight() / 2.0f}, // center
{colorCam->getPreviewHeight() * 1.0f, colorCam->getPreviewWidth() * 1.0f}, // size
180}; // angle
manipRgb->initialConfig.setCropRotatedRect(rgbRr, false);
colorCam->preview.link(manipRgb->inputImage);
auto manipRgbOut = pipeline.create<dai::node::XLinkOut>();
manipRgbOut->setStreamName("manip_rgb");
manipRgb->out.link(manipRgbOut->input);
// Link plugins CAM -> manipRgb
colorCam->video.link(manipRgbOut->input);
return pipeline;
}
int main(int argc, char** argv){
ros::init(argc, argv, "rgb_node");
ros::NodeHandle pnh("~");
std::string tfPrefix;
std::string camera_param_uri;
int badParams = 0;
badParams += !pnh.getParam("tf_prefix", tfPrefix);
badParams += !pnh.getParam("camera_param_uri", camera_param_uri);
if (badParams > 0)
{
throw std::runtime_error("Couldn't find one of the parameters");
}
dai::Pipeline pipeline = createPipeline();
dai::Device device(pipeline);
//std::shared_ptr<dai::DataOutputQueue> imgQueue = device.getOutputQueue("manip_rgb", 30, false);
std::shared_ptr<dai::DataOutputQueue> imgQueue = device.getOutputQueue("manip_rgb", 8, false);
std::string color_uri = camera_param_uri + "/" + "color.yaml";
dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", false);
dai::rosBridge::BridgePublisher<sensor_msgs::Image, dai::ImgFrame> rgbPublish(imgQueue,
pnh,
std::string("color/image"),
std::bind(&dai::rosBridge::ImageConverter::toRosMsg,
&rgbConverter, // since the converter has the same frame name
// and image type is also same we can reuse it
std::placeholders::_1,
std::placeholders::_2) ,
30,
color_uri,
"color");
rgbPublish.addPublisherCallback();
ros::spin();
return 0;
}
