[gazebo] Simulate Bebop1 camera #2225
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SetImageSize() is ignored and SetEnvTextureSize() causes an exception. Currently the camera output is too large for real-time operation.
sw/simulator/nps/nps_fdm_gazebo.cpp
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| image_create(img, cam->ImageWidth(), cam->ImageHeight(), IMAGE_YUV422); | ||
| xstart = 0; | ||
| ystart = 0; |
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You can set these in the definition of the variables and remove these. Seems safer
sw/simulator/nps/nps_fdm_gazebo.cpp
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| @@ -638,12 +668,22 @@ static void init_gazebo_video(void) | |||
| gazebo_cams[i].cam = cam; | |||
| gazebo_cams[i].last_measurement_time = cam->LastMeasurementTime(); | |||
| // Copy video_config settings from Gazebo's camera | |||
| #if defined(MT9F002_OUTPUT_WIDTH) && defined(MT9F002_OUTPUT_HEIGHT) | |||
| // See boards/bebop/mt9f002.c | |||
| cameras[i]->output_size.w = MT9F002_OUTPUT_WIDTH; | |||
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Won't this set every camera to the settings of the front camera when this is defined? Shouldn't you check that the current cam is indeed the front camera?
sw/simulator/nps/nps_fdm_gazebo.cpp
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| @@ -98,7 +98,15 @@ struct gazebocam_t { | |||
| }; | |||
| static struct gazebocam_t gazebo_cams[VIDEO_THREAD_MAX_CAMERAS] = | |||
| { { NULL, 0 } }; | |||
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| // For bebop camera simulation | |||
| #ifndef MT9F002_INITIAL_OFFSET_X | |||
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Strange to include this here, isn't it better to include mt9f002.h here instead. That has all the defaults of that camera. It should only be included if that sensor is used though.
Alternatively you can add an nps_sensors_params file for the bebop sensors.
At some point we are going to have to split this file up. Adding all the sensors here seems like it is a bad idea (for later though).
Reduces duplicate code for sensor parameters, and follows the same pattern as NPS_SIMULATE_LASER_RANGE_ARRAY. Also does not require the sensor params to be changed in every bebop airframe.
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All problems should be fixed now. I will update the name in a later pull request when the mavlabCourse branch has been completely set up. |
* First attempt at bebop fisheye camera * Try setting raw camera output size during initialization, does not work SetImageSize() is ignored and SetEnvTextureSize() causes an exception. Currently the camera output is too large for real-time operation. * FIX apply MT9F002_OUTPUT_SCALER to gazebo front camera * Add MT9F002 camera cropping to fdm_gazebo * Apply MT9F002_TARGET_FPS to bebop front cam in gazebo * Set up bottom camera for bebop model * Minor fixes and cleanup * Fix MT9F002 partially applied to all cameras * Remove sensors_params_bebop, introduce NPS_SIMULATE_MT9F002 Reduces duplicate code for sensor parameters, and follows the same pattern as NPS_SIMULATE_LASER_RANGE_ARRAY. Also does not require the sensor params to be changed in every bebop airframe.
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