diff --git a/calibration/camera.yaml b/calibration/default_camera.yaml similarity index 100% rename from calibration/camera.yaml rename to calibration/default_camera.yaml diff --git a/cfg/FirewireCameraDriver.cfg b/cfg/FirewireCameraDriver.cfg index 376630630f3170a301c06f0a96a39a01cf02ea97..70e720df0b524f1cdce596759f020414f98b3d64 100755 --- a/cfg/FirewireCameraDriver.cfg +++ b/cfg/FirewireCameraDriver.cfg @@ -53,6 +53,7 @@ enum_color_coding = gen.enum([ gen.const("MONO8", int_t, 0, "Mono coding with "Available color modes") # Name Type Reconfiguration level Description Default Min Max +gen.add("camera_name", str_t, SensorLevels.RECONFIGURE_STOP, "Camera name", "firewire_camera") gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_STOP, "Camera frame identifier", "camera_frame") gen.add("Camera_node", int_t, SensorLevels.RECONFIGURE_STOP, "Desired camera id", -1, -1 , 100) gen.add("Camera_serial", str_t, SensorLevels.RECONFIGURE_STOP, "Desired camera serial number", "") diff --git a/config/flea_params.yaml b/config/default_camera.yaml similarity index 62% rename from config/flea_params.yaml rename to config/default_camera.yaml index 1b9f36464798da61d3ccd15eb752063235b54d45..d77992902fc469c2a7efade89765939966fd6c89 100644 --- a/config/flea_params.yaml +++ b/config/default_camera.yaml @@ -1,13 +1,14 @@ -tf_prefix: "robot" -frame_id: "camera_frame" -Camera_node: 0 +tf_prefix: robot +camera_name: firewire_camera +frame_id: camera_frame +Camera_node: 0 #-1=use serial, 0,1,2...=use camera Camera_serial: "" #known serials - #flea: 00b09d0100a96262 - #flea2: 00b09d01006cf72a + #FLEA2-R: 00b09d0100a96262 + #FLEA2-L: 00b09d01006cf72a #bumblebee dabo: 0814438300001f9c - #bumblebee tibi: + #bumblebee tibi: ???????????????? ISO_speed: 400 Image_width: 1024 @@ -15,7 +16,7 @@ Image_height: 768 Left_offset: 0 Top_offset: 0 Framerate: 7.5 -Color_coding: 3 # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16 +Color_coding: 6 # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16 White_balance_enabled: true White_balance_mode: 0 # 0=Auto, 1=Manual White_balance_u_b_value: 0 @@ -25,4 +26,4 @@ Shutter_mode: 0 # 0=Auto, 1=Manual Shutter_value: 28 Gain_enabled: true Gain_mode: 0 # 0=Auto, 1=Manual -Gain_value: 48 \ No newline at end of file +Gain_value: 48 diff --git a/config/params.yaml b/config/params.yaml deleted file mode 100644 index 917ff5d99f16a6f8aa1660153a6846ef80e548c4..0000000000000000000000000000000000000000 --- a/config/params.yaml +++ /dev/null @@ -1,21 +0,0 @@ -tf_prefix: "robot" -frame_id: "camera_frame" -Camera_node: 0 -Camera_serial: "" -ISO_speed: 400 -Image_width: 1024 -Image_height: 768 -Left_offset: 0 -Top_offset: 0 -Framerate: 15 -Color_coding: 0 # 0=MONO8, 1=YUV8, 2=YUV16, 3=RGB24, 4=MONO16, 5=RGB48, 6=RAW8, 7=RAW16 -White_balance_enabled: true -White_balance_mode: 0 # 0=Auto, 1=Manual -White_balance_u_b_value: 0 -White_balance_v_r_value: 0 -Shutter_enabled: true -Shutter_mode: 0 # 0=Auto, 1=Manual -Shutter_value: 28 -Gain_enabled: true -Gain_mode: 0 # 0=Auto, 1=Manual -Gain_value: 48 diff --git a/include/firewire_camera_driver.h b/include/firewire_camera_driver.h index 3cf7744692c9e2a634e86234c387b4b3fd0037d0..59f3cce7235ad3ebc241e0ee2e35c33a61413462 100644 --- a/include/firewire_camera_driver.h +++ b/include/firewire_camera_driver.h @@ -256,4 +256,4 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver ~FirewireCameraDriver(); }; -#endif +#endif \ No newline at end of file diff --git a/include/firewire_camera_driver_node.h b/include/firewire_camera_driver_node.h index 4e36f765349a886e6588d9b165079ee87677d4a8..0040d476154944f0e4bf29b10c4023101c59d571 100644 --- a/include/firewire_camera_driver_node.h +++ b/include/firewire_camera_driver_node.h @@ -86,6 +86,7 @@ class FirewireCameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Firew CEventServer *event_server; std::string new_frame_event; std::string tf_prefix_; + std::string camera_name; /** * \brief post open hook @@ -225,4 +226,4 @@ class FirewireCameraDriverNodelet : public nodelet::Nodelet }; -#endif +#endif \ No newline at end of file diff --git a/launch/camera0rgb.launch b/launch/camera0rgb.launch deleted file mode 100644 index da97caf10b2d37599dbb8b1847f53889495db056..0000000000000000000000000000000000000000 --- a/launch/camera0rgb.launch +++ /dev/null @@ -1,9 +0,0 @@ -<!-- --> -<launch> - - <node name="iri_firewire_camera_driver" pkg="iri_firewire_camera_driver" type="iri_firewire_camera_driver" output="screen"> - <param name="Camera_node" value="0" /> - <param name="Framerate" value="30" /> - <param name="Color_coding" value="3" /> - </node> -</launch> diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch deleted file mode 100644 index 9a200220d6f465ba01b0653338b6b92f3ece91dc..0000000000000000000000000000000000000000 --- a/launch/camera_flea.launch +++ /dev/null @@ -1,24 +0,0 @@ -<!-- --> -<launch> - - <node pkg="iri_firewire_camera" - name="iri_firewire_camera" - type="iri_firewire_camera" - output="screen"> - <!--<param name="Camera_serial" value="00b09d01006cf72a" />--> - <param name="Camera_node" value="0" /> - <param name="Color_coding" value="3" /> - <param name="ISO_speed" value="400" /> - <param name="Framerate" value="2.5" /> - <param name="Image_width" value="1024" /> - <param name="Image_height" value="768" /> - </node> - -<!-- <node pkg="image_view" - type="image_view" - name="image_view" > - <remap from="/image" to="/iri_firewire_camera/camera_image"/> - </node>--> - - -</launch> diff --git a/launch/crop_by_2_rect.launch b/launch/crop_by_2_rect.launch deleted file mode 100644 index 7f11c67ede58d37fe484a6b8fb41db2c14f443a0..0000000000000000000000000000000000000000 --- a/launch/crop_by_2_rect.launch +++ /dev/null @@ -1,31 +0,0 @@ -<!-- --> -<launch> - - <!-- published topics: /processed_image --> - <!-- subscribed topics: /camera/image_raw --> - <!-- /camera/camera_info --> - <!-- service clients: --> - <!-- service servers: --> - <!-- action clients: --> - <!-- action servers: --> - <!-- image crop --> - <node pkg ="nodelet" - type="nodelet" - name="image_proc_dec" - args="standalone image_proc/crop_decimate"> - <param name="decimation_x" value="2" /> - <param name="decimation_y" value="2" /> - </node> - - <!-- image rectification --> - <node pkg ="image_proc" - type="image_proc" - name="image_proc_rect"> - <remap from="/image_raw" - to="/camera_out/image_raw" /> - <remap from="/camera_info" - to="/camera_out/camera_info" /> - <remap from="/image_rect_color" - to="/processed_image" /> - </node> -</launch> diff --git a/launch/firewire.launch b/launch/firewire.launch deleted file mode 100755 index d755dd264224ec9b4b19336176b84313acd5d209..0000000000000000000000000000000000000000 --- a/launch/firewire.launch +++ /dev/null @@ -1,73 +0,0 @@ -<?xml version="1.0"?> -<!-- --> -<launch> - - <!-- bumblebee --> - <!-- published topics: /sensors/head_right/image_raw --> - <!-- subscribed topics: --> - <!-- service clients: --> - <!-- service servers: --> - <!-- action clients: --> - <!-- action servers: --> - <node pkg ="iri_firewire_camera_driver" - type="iri_firewire_camera_driver" - name="bumblebee" - output="screen"> - <remap from="/bumblebee/camera_image" - to="/sensors/head_right/image_raw"/> - <!--<param name="Camera_node" value="0" />--> - <!--<param name="Camera_serial" value="00b09d01006b6fb5" />--> - <param name="Camera_serial" value="00b09d0100a96262" /> - <param name="frame_id" value="bumblebee_right" type="string" /> - <!-- set calibration file --> - <param name="cal_file" value="file://$(find iri_firewire_camera_driver)/calibration/tibi_right_camera.yaml" type="string" /> - <param name="ISO_speed" value="400" /> - <param name="Framerate" value="1.875" /> - <param name="Color_coding" value="6" /> - <param name="Image_width" value="1024" /> - <param name="Image_height" value="768" /> - <param name="Shutter_enabled" value="True"/> - <param name="Shutter_mode" value="0" /> - <param name="Shutter_value" value="10"/> - <param name="~tf_prefix" value="/bumblebee_frame" type="str"/> - </node> - - <!-- published topics: /processed_image --> - <!-- subscribed topics: /sensors/head_right/image_raw --> - <!-- /sensors/head_right/camera_info --> - <!-- service clients: --> - <!-- service servers: --> - <!-- action clients: --> - <!-- action servers: --> - <!-- image crop --> - <node pkg ="nodelet" - type="nodelet" - name="image_proc_dec" - args="standalone image_proc/crop_decimate"> - <param name="decimation_x" value="2" /> - <param name="decimation_y" value="2" /> - <remap from="/camera/image_raw" - to="/sensors/head_right/image_raw"/> - <remap from="/camera/camera_info" - to="/sensors/head_right/camera_info"/> - </node> - - <!-- image rectification --> - <node pkg ="image_proc" - type="image_proc" - name="image_proc_rect"> - <remap from="/image_raw" - to="/camera_out/image_raw" /> - <remap from="/camera_info" - to="/camera_out/camera_info" /> - <remap from="/image_rect_color" - to="/processed_image" /> - </node> - - <node pkg="image_view" - type="image_view" - name="image_view" > - <remap from="/image" to="/processed_image"/> - </node> - -</launch> diff --git a/launch/firewire_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch deleted file mode 100755 index 4dcb332524da0dd21955925e29b8611572564c9a..0000000000000000000000000000000000000000 --- a/launch/firewire_arpose_nodelet.launch +++ /dev/null @@ -1,70 +0,0 @@ -<!-- --> -<launch> - <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"> - <!--<param name="Camera_serial" value="00b09d01006cf72a" />--> <!-- tibi rear left --> - <param name="Camera_serial" value="00b09d0100a96262" /> <!-- tibi rear right --> - <param name="frame_id" value="bumblebee_frame" type="string" /> - <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" /> - <param name="ISO_speed" value="800" /> - <param name="Framerate" value="2.5" /> - <param name="Color_coding" value="6" /> - <param name="Image_width" value="1024" /> - <param name="Image_height" value="768" /> - <param name="Shutter_enabled" value="True"/> - <param name="Shutter_mode" value="1" /> - <param name="Shutter_value" value="10"/> - <param name="autosize" value="true"/> - <remap from="/standalone_nodelet/camera_image" - to="/camera/image_raw" /> - <remap from="/standalone_nodelet/camera_info" - to="/camera/camera_info" /> - </node> - - <!-- firewire camera driver --> - <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen"> - </node> - - <node pkg ="nodelet" type="nodelet" name="image_proc_debayer" args="load image_proc/debayer standalone_nodelet" output="screen"> - <remap from="/image_raw" - to="/camera/image_raw"/> - <remap from="/camera_info" - to="/camera/camera_info"/> - <remap from="/image_mono" - to="/camera/image_mono"/> - </node> - <!-- image rectification --> - <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen"> - <remap from="/image_mono" - to="/camera/image_mono"/> - <remap from="/camera_info" - to="/camera/camera_info"/> - <remap from="/image_rect" - to="/camera/image_rect"/> - </node> - - <node pkg ="nodelet" type="nodelet" name="local_th" args="load iri_image_local_binarization/ImageLocalBinNodelet standalone_nodelet" output="screen"> - <remap from="local_th/image_in/image_raw" - to="/camera/image_rect"/> - <remap from="local_th/image_in/camera_info" - to="/camera/camera_info"/> - <remap from="local_th/image_out/image_raw" - to="/ar_pose/image_raw"/> - <remap from="local_th/image_out/camera_info" - to="/ar_pose/camera_info"/> - </node> - - <node name="ar_pose" - pkg ="ar_pose" - type="ar_multi" - respawn="false" - output="screen"> - <param name="marker_pattern_list" type="string" value="$(find iri_ladybug2)/data/object_4x4_front"/> - <param name="threshold" type="int" value="100"/> - <param name="use_history" type="bool" value="true"/> - <remap from="/camera/image_raw" - to="/ar_pose/image_raw"/> - <remap from="/camera/camera_info" - to="/ar_pose/camera_info"/> - </node> - -</launch> diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch deleted file mode 100755 index fbd7abe8fe4db4201b404a37e796a4e5cbfca49b..0000000000000000000000000000000000000000 --- a/launch/firewire_nodelet.launch +++ /dev/null @@ -1,44 +0,0 @@ -<!-- --> -<launch> - <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"> - <param name="Camera_node" value="0" /> - <!--<param name="Camera_serial" value="00b09d01006b6fb5" />--> - <param name="frame_id" value="bumblebee_frame" type="string" /> - <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" /> - <param name="ISO_speed" value="800" /> - <param name="Framerate" value="2.5" /> - <param name="Color_coding" value="3" /> - <param name="Image_width" value="1024" /> - <param name="Image_height" value="768" /> - <param name="autosize" value="true"/> - <remap from="/camera_out/image_raw" - to="/image_mono" /> - <remap from="/camera_out/camera_info" - to="/camera_info" /> - <remap from="/camera/image_raw" - to="/standalone_nodelet/camera_image" /> - <remap from="/camera/camera_info" - to="/standalone_nodelet/camera_info" /> - <remap from="image" - to="/image_rect" /> - </node> - - <!-- firewire camera driver --> - <node pkg="nodelet" type="nodelet" name="iri_firewire_nodelet" args="load iri_firewire_camera/FirewireCameraNodelet standalone_nodelet" output="screen"> - </node> - - <!-- image decimation --> - <node pkg ="nodelet" type="nodelet" name="image_proc_dec" args="load image_proc/crop_decimate standalone_nodelet" output="screen"> - <param name="decimation_x" value="2" /> - <param name="decimation_y" value="2" /> - </node> - - <!-- image rectification --> - <node pkg ="nodelet" type="nodelet" name="image_proc_rect" args="load image_proc/rectify standalone_nodelet" output="screen"> - </node> - - <!-- image view --> - <node pkg="nodelet" type="nodelet" name="image" args="load image_view/image standalone_nodelet" output="screen"> - </node> - -</launch> diff --git a/launch/node.launch b/launch/node.launch index f605b142a6680cbcffe5584de74237b27e28522f..1d215d9ffc0b06bd80a86baa9425937c3f48e5ba 100644 --- a/launch/node.launch +++ b/launch/node.launch @@ -3,10 +3,10 @@ <launch> <arg name="name" default="robot" /> - <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/params.yaml" /> + <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/default_camera.yaml" /> <arg name="output" default="screen" /> <arg name="launch_prefix" default="" /> - <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/flea_camera.yaml"/> + <arg name="cal_file" default="file://$(find iri_firewire_camera_driver)/calibration/default_camera.yaml"/> <group ns="$(arg name)"> @@ -21,4 +21,4 @@ </group> -</launch> +</launch> \ No newline at end of file diff --git a/launch/tibi_dabo_crop_by_2_rect.launch b/launch/tibi_dabo_crop_by_2_rect.launch deleted file mode 100644 index 1eab31a45baaf4e126eca9fdc62ef687d971f9fd..0000000000000000000000000000000000000000 --- a/launch/tibi_dabo_crop_by_2_rect.launch +++ /dev/null @@ -1,42 +0,0 @@ -<launch> - - <!-- load robot defined machines --> - <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" /> - - <group ns="$(env ROBOT)"> - <!-- published topics: /$(env ROBOT)/processed_image --> - <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw --> - <!-- /$(env ROBOT)/sensors/head_right/camera_info --> - <!-- service clients: --> - <!-- service servers: --> - <!-- action clients: --> - <!-- action servers: --> - <!-- image crop --> - <node pkg ="nodelet" - type="nodelet" - name="image_proc_dec" - machine="visio" - args="standalone image_proc/crop_decimate"> - <param name="decimation_x" value="2" /> - <param name="decimation_y" value="2" /> - <remap from="/$(env ROBOT)/camera/image_raw" - to="/$(env ROBOT)/sensors/head_right/image_raw"/> - <remap from="/$(env ROBOT)/camera/camera_info" - to="/$(env ROBOT)/sensors/head_right/camera_info"/> - </node> - - <!-- image rectification --> - <node pkg ="image_proc" - type="image_proc" - name="image_proc_rect" - machine="visio"> - <remap from="/$(env ROBOT)/image_raw" - to="/$(env ROBOT)/camera_out/image_raw" /> - <remap from="/$(env ROBOT)/camera_info" - to="/$(env ROBOT)/camera_out/camera_info" /> - <remap from="/$(env ROBOT)/image_rect_color" - to="/$(env ROBOT)/processed_image" /> - </node> - </group> -</launch> - diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp index 0b5b0cf39aeabfd1e9dc21227b5cf2d5dcfb1c4c..da5db244bf49315eafbc4de053caa54a0869ef32 100644 --- a/src/firewire_camera_driver.cpp +++ b/src/firewire_camera_driver.cpp @@ -623,4 +623,4 @@ std::string FirewireCameraDriver::get_bayer_pattern(void) FirewireCameraDriver::~FirewireCameraDriver() { this->server->close(); -} +} \ No newline at end of file diff --git a/src/firewire_camera_driver_node.cpp b/src/firewire_camera_driver_node.cpp index d5ed5fa96dc1479fea29b5cdee3cbd0c228c7af4..79a2129bc3bfea1a079e8b5d5ad12f6ed19e759f 100644 --- a/src/firewire_camera_driver_node.cpp +++ b/src/firewire_camera_driver_node.cpp @@ -15,17 +15,19 @@ FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_ba this->camera.it.reset(new image_transport::ImageTransport(this->public_node_handle_)); this->camera.Image_msg_=sensor_msgs::ImagePtr(new sensor_msgs::Image); - this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("camera_image",this->diagnostic_, + this->diagnosed_camera_image = new diagnostic_updater::HeaderlessTopicDiagnostic("image_raw",this->diagnostic_, diagnostic_updater::FrequencyStatusParam(&this->desired_framerate,&this->desired_framerate,0.01,5)); this->event_server=CEventServer::instance(); + private_node_handle_.param<std::string>("camera_name", this->camera_name, "firewire_camera"); + // [init publishers] - this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera("camera_image", 1); + this->camera.camera_image_publisher_ = this->camera.it->advertiseCamera(this->camera_name+"/image_raw", 1); // try to load the calibration file private_node_handle_.param<std::string>("cal_file", cal_file, ""); - this->camera_manager.setCameraName("firewire_camera"); + this->camera_manager.setCameraName(this->camera_name); if(this->camera_manager.validateURL(cal_file)) { if(this->camera_manager.loadCameraInfo(cal_file)) @@ -259,6 +261,4 @@ void *FirewireCameraDriverNodelet::spin_thread(void *param) } // parameters are: package, class name, class type, base class type -PLUGINLIB_DECLARE_CLASS(iri_firewire_camera_driver, FirewireCameraDriverNodelet, FirewireCameraDriverNodelet, nodelet::Nodelet); - - +PLUGINLIB_DECLARE_CLASS(iri_firewire_camera_driver, FirewireCameraDriverNodelet, FirewireCameraDriverNodelet, nodelet::Nodelet); \ No newline at end of file