sthoduka / kortex_vision Goto Github PK

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

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

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

this includes:

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