sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

add setting resolution

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-08 17:35:55 +02:00
parent 475d2c20c0
commit cc78c73349
1 changed files with 10 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/camera/camera/camera_controller.py
View File

@@ -6,17 +6,25 @@ from drone_services.srv import TakePicture
import cv2 import cv2
from datetime import datetime from datetime import datetime
RES_4K_H = 3496
RES_4K_W = 4656
class CameraController(Node): class CameraController(Node):
def __init__(self): def __init__(self):
super().__init__('camera_controller') super().__init__('camera_controller')
self.capture = cv2.VideoCapture(0,cv2.CAP_DSHOW) self.capture = cv2.VideoCapture(0,cv2.CAP_DSHOW)
self.capture.set(cv2.CAP_PROP_FRAME_WIDTH, 4656)
self.capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 3496) self.get_logger().info(self.set_res(RES_4K_W,RES_4K_H))
self.get_logger().info("Camera controller started. Waiting for service call...") 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 set_res(self, x,y):
self.capture.set(cv2.CV_CAP_PROP_FRAME_WIDTH, int(x))
self.capture.set(cv2.CV_CAP_PROP_FRAME_HEIGHT, int(y))
return str(self.capture.get(cv2.CV_CAP_PROP_FRAME_WIDTH)),str(self.capture.get(cv2.CV_CAP_PROP_FRAME_HEIGHT))
def take_picture_callback(self, request, response): def take_picture_callback(self, request, response):
result, image = self.capture.read() result, image = self.capture.read()
if (result): if (result):