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micahpearlmanmicahpearlman
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created monochrome camera
1 parent ff701cd commit 5b7519a

13 files changed

+1290
-10
lines changed

‎Runtime/Scripts/ROS/Unity/Publishers/ZOROSImagePublisher.cs‎

Lines changed: 56 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -79,8 +79,14 @@ private void Initialize() {
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ROSBridgeConnection.Advertise(ImageROSTopic, _rosImageMessage.MessageType);
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ROSBridgeConnection.Advertise(CameraInfoROSTopic, _rosCameraInfoMessage.MessageType);
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// hookup to the sensor update delegate
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_rgbCameraSensor.OnPublishRGBImageDelegate = OnPublishRGBImageDelegate;
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if (RGBCameraSensor.IsMonochrome == true) {
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_rgbCameraSensor.OnPublishRGBImageDelegate = OnPublishMonoImageDelegate;
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} else {
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_rgbCameraSensor.OnPublishRGBImageDelegate = OnPublishRGBImageDelegate;
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}
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}
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@@ -146,6 +152,55 @@ private Task OnPublishRGBImageDelegate(ZORGBCamera rgbCamera, string cameraId, i
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return Task.CompletedTask;
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}
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/// <summary>
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/// Publishes raw camera U8 data as a ROS Image message.
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/// See: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html
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/// </summary>
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/// <param name="rgbCamera">The camera component</param>
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/// <param name="cameraId">Camera ID</param>
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/// <param name="width">Frame width</param>
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/// <param name="height">Frame height</param>
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/// <param name="rgbData">Raw RBG8 data. Note: we only sample the first channel assuming all channels have same monochrome value. </param>
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/// <returns></returns>
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private Task OnPublishMonoImageDelegate(ZORGBCamera rgbCamera, string cameraId, int width, int height, byte[] rgbData) {
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// figure out the transforms
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ZOROSTransformPublisher transformPublisher = GetComponent<ZOROSTransformPublisher>();
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if (transformPublisher != null) {
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_rosImageMessage.header.frame_id = transformPublisher.ChildFrameID;
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_rosCameraInfoMessage.header.frame_id = transformPublisher.ChildFrameID;
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} else {
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_rosImageMessage.header.frame_id = Name;
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_rosCameraInfoMessage.header.frame_id = Name;
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}
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// setup and send Image message
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_rosImageMessage.header.Update();
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_rosImageMessage.height = (uint)height;
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_rosImageMessage.width = (uint)width;
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_rosImageMessage.encoding = "mono8";
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_rosImageMessage.is_bigendian = 0;
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_rosImageMessage.step = 1 * (uint)width;
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_rosImageMessage.data = rgbData;
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ROSBridgeConnection.Publish<ImageMessage>(_rosImageMessage, _imageROSTopic, Name);
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// setup and send CameraInfo message
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_rosCameraInfoMessage.Update();
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_rosCameraInfoMessage.header = _rosImageMessage.header;
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// initialize the camera info
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if (RGBCameraSensor.UnityCamera.usePhysicalProperties == true) {
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_rosCameraInfoMessage.BuildCameraInfo((uint)RGBCameraSensor.Width, (uint)RGBCameraSensor.Height,
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(double)RGBCameraSensor.FocalLengthMM,
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(double)RGBCameraSensor.SensorSizeMM.x, (double)RGBCameraSensor.SensorSizeMM.y);
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} else {
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_rosCameraInfoMessage.BuildCameraInfo((uint)RGBCameraSensor.Width, (uint)RGBCameraSensor.Height, (double)RGBCameraSensor.FieldOfViewDegrees);
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}
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ROSBridgeConnection.Publish<CameraInfoMessage>(_rosCameraInfoMessage, _cameraInfoROSTopic, cameraId);
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return Task.CompletedTask;
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}
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#region ZOSerializationInterface
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public override string Type {
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get { return "ros.publisher.image"; }

‎Runtime/Scripts/Sensors/RGBCamera/ROSMonoCamera.prefab‎

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m_projectionMatrixMode: 2
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m_GateFitMode: 2
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m_FOVAxisMode: 1
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m_SensorSize: {x: 3.68, y: 2.76}
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m_FocalLength: 3.04
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_camera: {fileID: 891913994308376441}
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_isMonochrome: 0
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_width: 640
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_height: 480
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_postProcessMaterial: {fileID: 2100000, guid: 2e597e5b56537481a894fb4316ff9bff,
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_name: ros.publisher.transform_ROSImagePublisher
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_childFrameId: image
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_imageROSTopic: image/image_raw
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_cameraInfoROSTopic: image/camera_info

‎Runtime/Scripts/Sensors/RGBCamera/ROSMonoCamera.prefab.meta‎

Lines changed: 7 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Runtime/Scripts/Sensors/RGBCamera/ZOMonoPostProcessMaterial.mat‎

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‎Runtime/Scripts/Sensors/RGBCamera/ZOMonoPostProcessMaterial.mat.meta‎

Lines changed: 8 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Runtime/Scripts/Sensors/RGBCamera/ZOMonoPostProcessShader.shader‎

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Shader "ZOSim/ZOMonoPostProcessShader"
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{
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Properties
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[Toggle(FLIP_Y)]
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[Toggle(FLIP_X)]
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SubShader
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Cull Off ZWrite Off ZTest Always
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Pass
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CGPROGRAM
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#pragma fragment frag
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#pragma shader_feature FLIP_Y
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#pragma shader_feature FLIP_X
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#include "UnityCG.cginc"
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struct appdata
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‎Runtime/Scripts/Sensors/RGBCamera/ZOMonoPostProcessShader.shader.meta‎

Lines changed: 9 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

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