add 相机旋转

configs/ascento.yaml

@@ -52,6 +52,7 @@ second_tolerance: 100 # 远距离射击容差，degree
 judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2
 gain: 16

configs/calibration.yaml

@@ -5,6 +5,7 @@ pattern_type: chessboard   # circles_grid | chessboard
 
 R_gimbal2imubody: [1, 0, 0, 0, 1, 0,  0, 0, 1]
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 3
 gain: 10.0

configs/camera.yaml

@@ -3,6 +3,7 @@
 # gamma: 0.5
 # vid_pid: "f622:d13a"
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 3
 gain: 10.0

configs/demo.yaml

@@ -52,6 +52,7 @@ second_tolerance: 2 # 远距离射击容差，degree
 judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2
 gain: 16

configs/example.yaml

@@ -30,6 +30,7 @@ usb_gamma: 160
 usb_gain: 10 #0-96
 
 #####-----工业相机参数-----#####
+rotate_180: false
 camera_name: "mindvision"
 exposure_ms: 2
 gamma: 0.5

configs/mvs.yaml

@@ -37,6 +37,7 @@ usb_gamma: 160
 usb_gain: 10 #0-96
 
 #####-----工业相机参数-----#####
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2
 gain: 16

configs/sentry.yaml

@@ -51,6 +51,7 @@ second_tolerance: 2 # 远距离射击容差，degree
 judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2.5
 gain: 16.9

configs/standard3.yaml

@@ -51,6 +51,7 @@ second_tolerance: 2 # 远距离射击容差，degree
 judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2.5
 gain: 16.9

configs/standard4.yaml

@@ -52,6 +52,7 @@ second_tolerance: 2 # 远距离射击容差，degree
 judge_distance: 2 #距离判断阈值
 auto_fire: true # 是否由自瞄控制射击
 
+rotate_180: false
 camera_name: "hikrobot"
 exposure_ms: 2
 gain: 16

configs/uav.yaml

@@ -22,6 +22,7 @@ roi:
 use_roi: false
 
 #####-----工业相机参数-----#####
+rotate_180: false
 camera_name: "mindvision"
 exposure_ms: 8
 gamma: 0.6

src/device/camera.cpp

@@ -29,11 +29,16 @@ Camera::Camera(const std::string & config_path)
   else {
     throw std::runtime_error("Unknow camera_name: " + camera_name + "!");
   }
+
+  rotate_180_ = yaml["rotate_180"] ? yaml["rotate_180"].as<bool>() : false;
 }
 
 void Camera::read(cv::Mat & img, std::chrono::steady_clock::time_point & timestamp)
 {
   camera_->read(img, timestamp);
+  if (rotate_180_) {
+    cv::rotate(img, img, cv::ROTATE_180);
+  }
 }
 
 }  // namespace device

src/device/camera.hpp

@@ -23,6 +23,7 @@ public:
 
 private:
   std::unique_ptr<CameraBase> camera_;
+  bool rotate_180_ = false;
 };
 
 }  // namespace device