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Merged
merged 9 commits into from
Dec 3, 2024
Merged

Feat/unify zoom units #13

merged 9 commits into from
Dec 3, 2024

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rcartarobotnik
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This pull request includes significant updates to the PTZ (Pan-Tilt-Zoom) camera control configuration and functionality. The changes involve adding new parameters for zoom control, updating the launch configuration, and modifying the PTZ node implementation to handle these new parameters and improve diagnostics.

Configuration Updates:

Launch File Update:

  • launch/axis.launch: Changed the node type from axis_node.py to axis_ptz_node.py to use the updated PTZ node implementation.

PTZ Node Implementation:

  • src/axis_camera/axis_ptz_node.py:
    • Imported CameraParameters for publishing zoom information.
    • Updated __init__ method to include new zoom parameters: min_zoom_step, min_zoom_augment, and max_zoom_augment.
    • Added a publisher for zoom parameters and initialized zoom augment values in rosSetup. [1] [2]
    • Modified setCommandPTZ to handle zoom commands with new parameters and ensure zoom value normalization.
    • Added logging for PTZ limit enforcement in enforcePTZLimits.
    • Updated publishROS to publish zoom parameters and normalize zoom values before publishing. [1] [2]
    • Updated main function to include new zoom parameters in the argument dictionary.

@m-sanchez-rico m-sanchez-rico merged commit 0faea2d into master Dec 3, 2024
@m-sanchez-rico m-sanchez-rico deleted the feat/unify-zoom-units branch December 3, 2024 11:52
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3 participants