This ROS package contains a node and nodelet implementation of MV CPA api.

Clone this repo into your catkin_ws on your flight board:

cd ~/catkin_ws/src
git clone https://github.com/ATLFlight/snap_cpa.git
rosdep install . --from-paths

If you are using QFlight Pro, please follow build instructions here: QFlight Pro Buildi Instructions. You will also not need to run the rosdep install line.

This package is primarily target at use with snap_vio; however, it can be used with snap_cam_ros alone. To test CPA, use the launch/downward_cpa.launch file. You should now see gain and exposure adjusted based on total image luminance via the dynamic_reconfigure api of snap_cam_ros.