Image flipping on publishing to ROS #751
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Overview
Author: Jan Hernas
Issue
Issue link: #750
Issue description: Current image rotating options affect the generated depth image making it unusable. This PR adds
i_flip_published_imageparameter to Sensors and Stereo that rotates uncompressed images just before publishing them to ROS. This will work on mono, rgb and thermal sensors as well as the stereo image.I kept the
i_sensor_img_orientationsince it can be used to rotate images on camera and not do any post-processing if depth image can be disregarded.Only uncompressed images are flipped since to rotate a ffmpeg image it would have to be decoded.
Changes
ROS distro: Jazzy
List of changes:
i_flip_published_imageto sensor and stereo parametersi_flip_published_imageistrueTesting
Hardware used: OAK-D W PRO
Visuals from testing
Flipped image and pointcloud (camera was upside down):
