Merge branch 'master' of gitlab.aau.at:aau-nav/development/camera_streaming into master

camera_streaming/camera_subscriber.py

@@ -74,7 +74,11 @@ class CameraSubscriber(Node, MissionExecutor):
         self.saved = 0
         self.last_saved = datetime.now().timestamp()
 
-        self.resolution = (480, 640, 3)
+        SOURCE_IMG_SIZE = (640, 480)
+        # SOURCE_IMG_SIZE = (800, 600)
+        # SOURCE_IMG_SIZE = (1280, 960)
+
+        self.resolution = (SOURCE_IMG_SIZE[1], SOURCE_IMG_SIZE[0], 3)
         hosts_num = len(self.hosts.keys())
         self.shape = (
             int(np.floor(np.sqrt(hosts_num))),
@@ -276,7 +280,10 @@ class CameraSubscriber(Node, MissionExecutor):
             self.fps[host] = round(
                 (
                     0.8 * self.fps[host] +
-                    0.2 * 1/(t_gen - self.last_frame[host]).total_seconds()
+                    0.2 * 1/(
+                        (t_gen - self.last_frame[host]).total_seconds()
+                        or 1
+                    )
                 ),
                 2
             )
@@ -289,6 +296,7 @@ class CameraSubscriber(Node, MissionExecutor):
             ) / 2
             native_message = ROS2NativeMessage(
                 msg=msg,
+                size=len(msg.data),
                 sender=host[-1],
                 receivers=['base_station'],
                 data_type_name=f'v{host[-1]}',