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Kinovarobotics / ros_kortex_vision

ROS package for KINOVA® KORTEX™ arms vision module
BSD 3-Clause "New" or "Revised" License
32 stars 34 forks source link

Streaming at highest color resolution #12

Closed RaduCorcodel closed 1 year ago

RaduCorcodel commented 1 year ago

Hi,

I'm trying to roslaunch the color_only node with roslaunch kinova_vision kinova_vision_color_only.launch color_camera_info_url:=file:///homes/corcodel/ws_kortex/src/ros_kortex_vision/launch/calibration/default_color_calib_1920x1080.ini but I'm getting the message

[ WARN] [1658266356.621532826]: [color]: Calibration file sensor resolution (1080x1920 pixels) doesn't match stream resolution (720x1280 pixels)

which is not unexpected since I didn't specify anywhere the resolution that I want. Can you please tell me where do I set it the resolution? Neither launchers have the launch arguments to set the resolution.

Thank you.

Radu,

felixmaisonneuve commented 1 year ago

Hi @RaduCorcodel,

you can change it using the Web app (in the Configuration page) image

You can also use the API by using SetSensorSettings in the VisionConfig. You can specify the resolution in your SensorSettings. Here is the Resolution Enum

Every API call is also autogenerated in ROS, so it should be possible to change the resolution in ROS as well.

Regards, Felix

RaduCorcodel commented 1 year ago

Perfect. Sure, I'll do it through a service call. The reference on how to do that is just a little lost in the weeds, maybe it wouldn't be a bad idea to mention it specifically. Thanks again. I'll close this.

Best, Radu