Like the title says, I'm trying to publish images from the bottom camera of the RTF drone using ROS. Initially, I modified the existing http://wiki.ros.org/usb_cam usb_cam ROS package and this allowed me to communicate with the camera, but I've been struggling with trying to then calibrate my camera since the video stream that I get seems to just be a noisy image (I attached an image of it). To clarify, I'm still able to get some kind of stream but it seems to splice together 5 of the same streams into one, which can be seen with the 5 different columns.
I've considered that the problem is simply a matter of decoding the yuv420 pixel format of the bottom camera into RGB, but I am still fairly new to C++ so I have been struggling with this problem. Am I going about this in the right direction or is something else causing this noisy stream?
Any help would be appreciated.
thank you for your response. My camera doesn't show vertical stripes, the issue is only for the edges.
Is this issue caused by the hardware or software and is there any way to solve it?
Can I apply the optical flow algorithm correctly although I have the issue on the edges?
Your ROS application is very interesting. I run it and by QGroundControl station I checked that the optical flow algorithm works properly (and the quality is above 100) but Local_position_x and y stay to 0 all the time.
EKF2_AID_MASK = 2
EKF2_HGT_MODE = Range sensor
SENS_EN_LEDDAR1 = enabled
In addition I can set the parameter SENS_FLOW_ROT. I tried using different values but I'm not able to get correct value from local_position_x and y yet.
Could you suggest me a solution?
I could not use it yet because I only have Teraranger Ones and the driver seems not to be working.
Without the ranging device; I cannot get a local position.
Therefore I connected a PX4Flow on it and use the bottom camera for tag recognition only (VIO disabled).
Thank you for your response. I thought the same thing: install a PX4FLOW to implement the optical flow and use the bottom camera for marker recognition and vision pose estimation. Have you installed PX4FLOW using the instruction on https://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/ Intel Aero Drone - Altitude and Position Hold Using PX4Flow: 11 Steps (with Pictures) (PX4flow camera with sonar included) ?
I did not follow that; I added the PX4Flow driver and started it automatically in the PX4 Firmware; See the two commits at my local branch (from 1.8.0): https://github.com/umdlife/Firmware/tree/intel GitHub - umdlife/Firmware at intel
To make and upload the Firmware:
make aerofc-v1_default upload