Changed the camera config to include the resolution

ctu-mrs · Mar 12, 2024 · 0c647b9 · 0c647b9
1 parent 1379a95
commit 0c647b9
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Showing 3 changed files with 17 additions and 4 deletions.
diff --git a/include/ueds_connector/data-types.h b/include/ueds_connector/data-types.h
@@ -103,8 +103,8 @@ enum CameraCaptureModeEnum : unsigned short {
 
 struct CameraConfig {
   CameraConfig() = default;
-  CameraConfig(bool showDebugCamera, double angleFov, const Coordinates offset, const Rotation orientation)
-      : showDebugCamera(showDebugCamera), angleFOV(angleFov), offset(offset), orientation(orientation) {}
+  CameraConfig(bool showDebugCamera, double angleFov, const Coordinates offset, const Rotation orientation, int Width, int Height)
+      : showDebugCamera(showDebugCamera), angleFOV(angleFov), offset(offset), orientation(orientation), Width(Width), Height(Height) {}
 
   bool showDebugCamera;
 
@@ -113,10 +113,14 @@ struct CameraConfig {
   Coordinates offset;
 
   Rotation orientation;
+
+  int Width;
+
+  int Height;
 
   std::string toString() const {
     return "(showDebugCamera: " + std::to_string(showDebugCamera) + ", angleFOV: " + std::to_string(angleFOV) +
-           ", offset: " + offset.toString() + ", directionZ: " + orientation.toString() + ")";
+           ", offset: " + offset.toString() + ", directionZ: " + orientation.toString() + ", Width: " + std::to_string(Width) + ", Height: " + std::to_string(Height) + ")";
   }
 };
 }  // namespace ueds_connector
diff --git a/include/ueds_connector/serialization/serializable-shared.h b/include/ueds_connector/serialization/serializable-shared.h
@@ -114,10 +114,13 @@ struct CameraConfig
   double orientationRoll;
 
   double angleFOV;
+
+  int Width;
+  int Height;
 
   template <class Archive>
   void serialize(Archive& archive) {
-    archive(showDebugCamera, offsetX, offsetY, offsetZ, orientationPitch, orientationYaw, orientationRoll, angleFOV);
+    archive(showDebugCamera, offsetX, offsetY, offsetZ, orientationPitch, orientationYaw, orientationRoll, angleFOV, Width, Height);
   }
 };
 

diff --git a/src/ueds_connector/ueds_connector.cpp b/src/ueds_connector/ueds_connector.cpp
@@ -364,6 +364,9 @@ std::pair<bool, CameraConfig> UedsConnector::GetCameraConfig() {
     config.offset = Coordinates{response.config.offsetX, response.config.offsetY, response.config.offsetZ};
 
     config.orientation = Rotation{response.config.orientationPitch, response.config.orientationYaw, response.config.orientationRoll};
+
+    config.Width = response.config.Width;
+    config.Height = response.config.Height;
   }
 
   return std::make_pair(success, config);
@@ -390,6 +393,9 @@ bool UedsConnector::SetCameraConfig(const CameraConfig& config) {
   request.config.orientationYaw   = config.orientation.yaw;
   request.config.orientationRoll  = config.orientation.roll;
 
+  request.config.Width = config.Width;
+  request.config.Height = config.Height;
+
   Serializable::Drone::SetCameraConfig::Response response{};
 
   const auto status  = Request(request, response);