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This project forked from kinovarobotics/ros_kortex_vision

1.0 1.0 0.0 1.9 MB

non-ROS library for KINOVA® KORTEX™ arms vision module

License: BSD 3-Clause "New" or "Revised" License

C++ 91.15% CMake 8.85%

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kortex_vision's Issues

add single config file

Currently configuration parameters are in the launch files and camera calibration parameters are in .ini files. A single JSON file with all configuration and calibration parameters would be preferable.

Some important config parameters are:

device IP address
static transform between RGB and depth cameras
RTSP urls for color and depth

remove ROS-specific files

this includes:

package.xml
launch files
rviz config
remove catkin from CMakeLists
vision_node.cpp

Suggestion: argparser for main

I suggest to use OpenCV cv::CommandLineParser as argparser for the main function.

https://docs.opencv.org/3.4/d0/d2e/classcv_1_1CommandLineParser.html

[Main] Ideal use case.

KinovaVision kv;
kv.start();
cv::Mat img, depth_img;
kv.get_color_image(img);
kv.get_depth_image(depth_img);
kv.get_color_and_depth_image(img, depth_img);

@sthoduka

are img and deepth_img passed by reference or by pointer?
what do you prefear to set the parameters of kv (by constructor of by set_parameter function?)

Maybe the json parser should be outside KinovaVision so they are loosely cuppled, and play together in the main

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