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leggedrobotics / raw_image_pipeline

Image processing pipeline for cameras that provide raw data
MIT License
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Add support for multiple cameras #4

Closed YifuTao closed 1 year ago

YifuTao commented 1 year ago

This PR adds options to run debayer node for camera 0-6.

rowanborder commented 1 year ago

@YifuTao The launchfile for starting raw_image_pipeline nodes for multiple cameras should probably exist in frontier_logging rather than this repo. I've just committed a launchfile that does just that:- https://github.com/ori-drs/frontier_logging/blob/master/launch/drivers/alphasense_raw_image_pipeline.launch

You just need to set the number of cameras and the raw_image_pipeline functionalities you want to use. I haven't exposed all of the raw_image_pipeline parameters, but you can add any more that are useful.

YifuTao commented 1 year ago

I see. That is probably a better option as it avoids lots of duplicated code for the node. (@mmattamala do you agree?) The above commits are largely borrowed from the code back in August 22.

mmattamala commented 1 year ago

Hi both, thanks for working on this. I agree that the launchfile here should only be a guide for the specific applications are relying on this package. Multi-camera launchfiles can live in the specific packages, as the numbering also differs between devices.