Added flip option in camera.cpp

.gitignore

@@ -13,3 +13,4 @@
 *.a
 
 *~
+.DS_Store

CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package cv_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.1 (2022_02-24)
+* Adding option to flip image at source using cv::flip function.
+  Useful for cameras mounted upside down, without the option to
+  flip the image in the camera, i.e. ArduCam
+* Contributors: Skammi
+
 0.6.0 (2021-07-06)
 ------------------
 * Adding MONO8 format if number of channels is 1

README.md

@@ -33,6 +33,8 @@ If no calibration data is set, it has dummy values except for width and height.
 * `~capture_delay` (*double*, default: 0) – estimated duration of capturing and receiving the image.
 * `~rescale_camera_info` (*bool*, default: false) – rescale camera calibration info automatically.
 * `~camera_name` (*bool*, default: same as `frame_id`) – camera name for `camera_info_manager`.
+* `~flip_image` (*bool*, default: false) – flip the image according to image_flip_code.
+* `~image_flip_code` (*int*, default: -1) – code to flip the image see cv::flip() for description.
 
 Supports CV_CAP_PROP_*, by below params.
 

include/cv_camera/capture.h

@@ -220,6 +220,16 @@ class Capture
    * @brief capture_delay param value
    */
   ros::Duration capture_delay_;
+
+  // Skammi extension
+  /**
+   * @brief
+   * flip parameter value true or false
+   * image_flip_code parameter value see opencv flip
+   */
+  bool flip_image_ {false};				// Image to be flipped, default false
+  int image_flip_code_ {-1};			// Default horizontal and vertical
+
 };
 
 } // namespace cv_camera

launch/arducam_camera_publish.launch

@@ -0,0 +1,16 @@
+<!-- adapted for use with ArduCam --> 
+<launch>
+  <node pkg="cv_camera" type="cv_camera_node" name="cv_camera" output="screen">
+ 	<!-- minimum size for ardu cam is 640 x 480 -->
+    <param name="image_width" value="640"/>
+    <param name="image_height" value="480"/>
+    <param name="rate" value="30"/>
+    <param name="frame_id" value="camera"/>
+ 	<!-- Need to be able to change the device ID default is 0 , wich is the deskcam in a laptop -->
+    <param name="device_id" value="2"/>
+  	<!-- ArduCam is mounted upside down on turtlebot3, needs flipping, available in adpated cv_camera-->
+    <param name="flip_image" value="true"/>
+    <param name="image_flip_code" value="-1"/>
+
+  </node>
+</launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>cv_camera</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>cv_camera uses OpenCV capture object to capture camera image.
   This supports camera_image and nodelet.
   </description>

src/capture.cpp

@@ -20,6 +20,10 @@ Capture::Capture(ros::NodeHandle &node, const std::string &topic_name,
       info_manager_(node_, camera_name),
       capture_delay_(ros::Duration(node_.param("capture_delay", 0.0)))
 {
+	// Skammi Extension
+	// Get the flip parameters
+	node_.param("flip_image", flip_image_, flip_image_);
+	node_.param("image_flip_code", image_flip_code_, image_flip_code_);
 }
 
 void Capture::loadCameraInfo()
@@ -137,6 +141,12 @@ bool Capture::capture()
     bridge_.header.stamp = stamp;
     bridge_.header.frame_id = frame_id_;
 
+	// Skammi extension
+	// Flip the image?
+	if (flip_image_) {
+		cv::flip(bridge_.image, bridge_.image, image_flip_code_);
+	}
+
     info_ = info_manager_.getCameraInfo();
     if (info_.height == 0 && info_.width == 0)
     {