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add seetting resolution according to variables

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Sem van der Hoeven
2023-05-10 11:36:40 +02:00
parent d0800b90ab
commit b178db9c33
23 changed files with 14 additions and 1828 deletions
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63
src/camera/camera/camera_controller.py
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@@ -14,61 +14,24 @@ RES_4K_W = 4656
class CameraController(Node):
def __init__(self):
super().__init__('camera_controller')
# self.capture = cv2.VideoCapture(0,cv2.CAP_DSHOW)
# CAMERA_PROP_WIDTH = 3
# CAMERA_PROP_HEIGHT = 4
# self.capture.set(CAMERA_PROP_WIDTH, RES_4K_W)
# self.capture.set(CAMERA_PROP_HEIGHT, RES_4K_H)
# self.get_logger().info("Camera resolution set to " + str(self.capture.get(CAMERA_PROP_WIDTH)) + "x" + str(self.capture.get(CAMERA_PROP_HEIGHT)))
self.get_logger().info("Camera controller started. Waiting for service call...")
self.srv = self.create_service(TakePicture, 'drone/picture', self.take_picture_callback)
self.srv = self.create_service(
TakePicture, 'drone/picture', self.take_picture_callback)
def take_picture_callback(self, request, response):
# result, image = self.capture.read()
# if (result):
if (request.input_name == "default"):
self.get_logger().info("Taking picture with default filename")
now = datetime.now().strftime("droneimage_%Y-%m-%d_%H-%M-%S")
imagename = "/home/ubuntu/drone_img/" + now + ".jpg"
# image = self.maintain_aspect_ratio_resize(image, width=RES_4K_W, height=RES_4K_H)
# cv2.imwrite(imagename, image)
response.filename = imagename
else:
# cv2.imwrite(request.input_name, image)
response.filename = request.input_name
os.system('fswebcam -r 4656x3496 ' + response.filename)
self.get_logger().info("Picture saved as " + response.filename)
# else:
# self.get_logger().error("Could not take picture")
# response.filename = "/dev/null"
if (request.input_name == "default"):
self.get_logger().info("Taking picture with default filename")
now = datetime.now().strftime("droneimage_%Y-%m-%d_%H-%M-%S")
imagename = "/home/ubuntu/drone_img/" + now + ".jpg"
response.filename = imagename
else:
response.filename = request.input_name
os.system('fswebcam -r ' + RES_4K_W + 'x' + RES_4K_H + ' ' + response.filename)
self.get_logger().info("Picture saved as " + response.filename)
return response
# def maintain_aspect_ratio_resize(self, image, width=None, height=None, inter=cv2.INTER_AREA):
# # Grab the image size and initialize dimensions
# dim = None
# (h, w) = image.shape[:2]
return response
# # Return original image if no need to resize
# if width is None and height is None:
# return image
# # We are resizing height if width is none
# if width is None:
# # Calculate the ratio of the height and construct the dimensions
# r = height / float(h)
# dim = (int(w * r), height)
# # We are resizing width if height is none
# else:
# # Calculate the ratio of the 0idth and construct the dimensions
# r = width / float(w)
# dim = (width, int(h * r))
# # Return the resized image
# return cv2.resize(image, dim, interpolation=inter)
def main(args=None):
rclpy.init(args=args)
@@ -84,4 +47,4 @@ def main(args=None):
if __name__ == '__main__':
main()
main()