diff --git a/ReadMe.md b/ReadMe.md
index e941453c076ab81cb9e804ad58237038a556d39a..c527b374214622d6900589cb120473ee20842f5a 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -9,7 +9,7 @@ ROS wrapper to work with [mvBlueFOX3](https://gitlab.iri.upc.edu/asantamaria/mvB
- [Matrix Vision driver](https://www.matrix-vision.com/software-drivers-en.html). Orientative installation for a Linux x86_64. For detailed specifications and driver installations, please visit [Matrix
Vision Drivers and Software](https://www.matrix-vision.com/software-drivers-en.html)
- `cd ~/Downloads`
- - `wget http://static.matrix-vision.com/mvIMPACT_Acquire/2.19.0/mvGenTL_Acquire-x86_64_ABI2-2.19.0.tgz -O mvGenTL_Acquire-x86_64_ABI2-2.19.0.tgz`
+ - `wget http://static.matrix-vision.com/mvIMPACT_Acquire/2.26.0/mvGenTL_Acquire-x86_64_ABI2-2.26.0.tgz -O mvGenTL_Acquire-x86_64_ABI2-2.26.0.tgz`
- `wget https://www.matrix-vision.com/USB3-vision-camera-mvbluefox3.html?file=tl_files/mv11/support/mvIMPACT_Acquire/01/install_mvGenTL_Acquire.sh -O install_mvGenTL_Acquire.sh`
- `sudo chmod +x install_mvGenTL_Acquire.sh`
- `./install_mvGenTL_Acquire.sh`
diff --git a/cfg/Mvbluefox3Camera.cfg b/cfg/Mvbluefox3Camera.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..ac3bd0221617a7656e07966e72016061ee1fc486
--- /dev/null
+++ b/cfg/Mvbluefox3Camera.cfg
@@ -0,0 +1,124 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='iri_mvbluefox3_camera'
+
+from driver_base.msg import SensorLevels
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, SensorLevels.RECONFIGURE_STOP, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+
+enum_mirror = gen.enum([ gen.const("Off", int_t, 0, "No mirror"),
+gen.const("TopDown", int_t, 1, "Top-Down mirror"), gen.const("LeftRight", int_t, 2, "Left-Right mirror")],"Available mirror modes")
+
+enum_mode = gen.enum([ gen.const("Auto", bool_t, True, "Auto mode"),
+gen.const("Manual", bool_t, False, "Manual mode")],"Available feature modes")
+
+enum_clock = gen.enum([ gen.const("kHz_40000", int_t, 40000, "kHz_40000"),
+gen.const("kHz_66000", int_t, 66000, "kHz_66000")],"Available pixel clock frequencies [kHz]")
+
+enum_speed = gen.enum([ gen.const("Slow", int_t, 0, "Slow"),
+gen.const("Medium", int_t, 1, "Medium"),
+gen.const("Fast", int_t, 2, "Fast")],"Available auto control speed modes")
+
+enum_dark_filter = gen.enum([ gen.const("df_Off", int_t, 0, "Off"),
+gen.const("df_On", int_t, 1, "On"),
+gen.const("df_Calibrate", int_t, 2, "Calibrate")],"Available dark filter modes")
+
+enum_color_coding = gen.enum([
+gen.const("RAW8", int_t, 0, "RAW coding with 8 bits per pixel"),
+gen.const("MONO8", int_t, 1, "Mono coding with 8 bits per pixel"),
+gen.const("MONO16", int_t, 2, "MONO coding with 16 bits per pixel"),
+gen.const("RGB8", int_t, 3, "RGB coding with 8 bits per channel"),
+gen.const("RGB16", int_t, 4, "RGB coding with 16 bits per channel"),
+gen.const("BGR8", int_t, 5, "BGR coding with 8 bits per channel"),
+gen.const("YUV422", int_t, 6, "YUV coding with 4,2,2 pixels per channel"),
+gen.const("YUV444", int_t, 7, "YUV coding with 4,4,4 pixels per channel")],"Available color modes")
+
+gen.add("cam_name", str_t, SensorLevels.RECONFIGURE_STOP, "Camera number to apply settings", "<< FILL CAMERA NAME TO UPDATE PARAMS>>")
+
+gen.add("apply_cfg", bool_t, SensorLevels.RECONFIGURE_STOP, "Apply new configuration", False)
+
+gen.add("pixel_format", int_t, SensorLevels.RECONFIGURE_STOP, "Color modes", 1, 0, 7, edit_method=enum_color_coding)
+gen.add("width", int_t, SensorLevels.RECONFIGURE_STOP, "Image width", 1280, 0, 1280)
+gen.add("height", int_t, SensorLevels.RECONFIGURE_STOP, "Image height", 960, 0, 960)
+
+gen.add("frame_rate", int_t, SensorLevels.RECONFIGURE_STOP, "Frame rate", 1, 1, 29)
+gen.add("pixel_clock", int_t, SensorLevels.RECONFIGURE_STOP, "Pixel Clock (kHz)", 40000, 40000, 66000, edit_method=enum_clock)
+
+gen.add("auto_expose", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable automatic exposure control", True)
+gen.add("auto_expose_upperlimit", int_t, SensorLevels.RECONFIGURE_STOP, "Auto exposure upper limit [us]", 30000, 10000, 500000)
+gen.add("auto_expose_des_grey_val", int_t, SensorLevels.RECONFIGURE_STOP, "Auto exposure desired grey value [%]", 50, 0, 100)
+gen.add("expose_us", int_t, SensorLevels.RECONFIGURE_STOP, "Exposure (auto_expose = off) [us]", 10000, 1000, 100000)
+
+gen.add("auto_gain", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable automatic gain control", False)
+gen.add("gain_db", int_t, SensorLevels.RECONFIGURE_STOP, "Gain (auto_gain = off) [dB]", 0, 0, 40)
+
+gen.add("gamma", bool_t, SensorLevels.RECONFIGURE_STOP, "Gamma gain (LUT)", False)
+
+gen.add("img_rot_angle", int_t, SensorLevels.RECONFIGURE_STOP, "Image rotation angle", 0, 0, 360)
+gen.add("mirror", int_t, SensorLevels.RECONFIGURE_STOP, "Image mirror", 0, 0, 2, edit_method=enum_mirror)
+
+gen.add("set_aoi", bool_t, SensorLevels.RECONFIGURE_STOP, "Set AOI", False)
+gen.add("aoi_width", int_t, SensorLevels.RECONFIGURE_STOP, "AOI width", 1280, 0, 1280)
+gen.add("aoi_height", int_t, SensorLevels.RECONFIGURE_STOP, "AOI height", 960, 0, 960)
+gen.add("aoi_start_x", int_t, SensorLevels.RECONFIGURE_STOP, "AOI start x pixel", 0, 0, 1280)
+gen.add("aoi_start_y", int_t, SensorLevels.RECONFIGURE_STOP, "AOI start y pixel", 0, 0, 1280)
+gen.add("h_binning_enbl", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable horizontal binning", False)
+gen.add("h_binning", int_t, SensorLevels.RECONFIGURE_STOP, "Horizontal binning factor (1/x)", 1, 1, 2)
+gen.add("v_binning_enbl", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable vertical binning", False)
+gen.add("v_binning", int_t, SensorLevels.RECONFIGURE_STOP, "Vertical binning factor (1/x)", 1, 1, 2)
+
+gen.add("req_timeout", int_t, SensorLevels.RECONFIGURE_STOP, "Image request timeout [ms]", 2000, 0, 5000)
+
+gen.add("auto_ctrl_enbl", bool_t, SensorLevels.RECONFIGURE_STOP, "Enable automatic control: auto exposure and gain controls", False)
+gen.add("auto_ctrl_speed", int_t, SensorLevels.RECONFIGURE_STOP, "Auto control speed", 2, 0, 2, edit_method=enum_speed)
+
+gen.add("whiteblnce_auto_enbl", bool_t, SensorLevels.RECONFIGURE_STOP, "Auto white balance", True)
+gen.add("wb_r_gain", int_t, SensorLevels.RECONFIGURE_STOP, "Red channel white balance gain (auto_white_balance = off) [dB]", 0, 0, 40)
+gen.add("wb_b_gain", int_t, SensorLevels.RECONFIGURE_STOP,
+"Blue channel white balance gain (auto_white_balance = off) [dB]", 0, 0, 40)
+
+gen.add("auto_blck_level", bool_t, SensorLevels.RECONFIGURE_STOP, "Auto black level", True)
+gen.add("blck_level", int_t, SensorLevels.RECONFIGURE_STOP, "Black level (auto_black_level = off)", 0, 0, 100)
+
+gen.add("hdr_enbl", bool_t, SensorLevels.RECONFIGURE_STOP, "HDR", False)
+
+gen.add("dark_cfilter", int_t, SensorLevels.RECONFIGURE_STOP, "Dark filter modes", 0, 0, 2, edit_method=enum_dark_filter)
+
+gen.add("twist_cfilter", bool_t, SensorLevels.RECONFIGURE_STOP, "Color Twist Filter enable", False)
+
+exit(gen.generate(PACKAGE, "Mvbluefox3CameraDriver", "Mvbluefox3Camera"))
diff --git a/include/mvbluefox3_camera_driver.h b/include/mvbluefox3_camera_driver.h
new file mode 100644
index 0000000000000000000000000000000000000000..c76410909aa92adf8804ebb6fe759b5bad74e46e
--- /dev/null
+++ b/include/mvbluefox3_camera_driver.h
@@ -0,0 +1,246 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _mvbluefox3_camera_driver_h_
+#define _mvbluefox3_camera_driver_h_
+
+#include <iri_base_driver/iri_base_driver.h>
+#include <iri_mvbluefox3_camera/Mvbluefox3CameraConfig.h>
+
+#include "mvbluefox3.h"
+
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/fill_image.h>
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ * This class inherits from the IRI Base class IriBaseDriver, which provides the
+ * guidelines to implement any specific driver. The IriBaseDriver class offers an
+ * easy framework to integrate functional drivers implemented in C++ with the
+ * ROS driver structure. ROS driver_base state transitions are already managed
+ * by IriBaseDriver.
+ *
+ * The Mvbluefox3CameraDriver class must implement all specific driver requirements to
+ * safetely open, close, run and stop the driver at any time. It also must
+ * guarantee an accessible interface for all driver's parameters.
+ *
+ * The Mvbluefox3CameraConfig.cfg needs to be filled up with those parameters suitable
+ * to be changed dynamically by the ROS dyanmic reconfigure application. The
+ * implementation of the CIriNode class will manage those parameters through
+ * methods like postNodeOpenHook() and reconfigureNodeHook().
+ *
+ */
+class Mvbluefox3CameraDriver : public iri_base_driver::IriBaseDriver
+{
+ private:
+ // private attributes and methods
+
+ mvIMPACT::acquire::DeviceManager devMgr; // Device Manager.
+
+ std::vector<CMvbluefox3::CMvbluefox3*> vcam_ptr; // Camera pointer.
+
+ bool ini_dynrec; // To control parameters initialization after device is found.
+
+ /**
+ * \brief Dynamic reconfigure to camera parameters
+ *
+ * Dynamic reconfigure to camera parameters.
+ */
+ CMvbluefox3::CParams DynRecToParams(iri_mvbluefox3_camera::Mvbluefox3CameraConfig &cfg);
+
+ /**
+ * \brief Camera parameters to dynamic reconfigure
+ *
+ * Camera parameters to dynamic reconfigure.
+ */
+ iri_mvbluefox3_camera::Mvbluefox3CameraConfig ParamsToDynRec(const int &cam_num, const CMvbluefox3::CParams &p);
+
+ public:
+
+ int num_cams; // Number of cameras.
+ std::vector<std::string> vserial; // Serial numbers.
+ std::vector<std::string> vframe_id; // Frame ids.
+ std::vector<std::string> vcam_name; // Camera names.
+ std::vector<std::string> vparams_path; // Parameters' paths.
+
+ std::vector<CMvbluefox3::CParams> vparams; // Camera parameters.
+ bool ini_user_params; // To control parameters initialization after device is found.
+
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the Mvbluefox3CameraConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef iri_mvbluefox3_camera::Mvbluefox3CameraConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ Mvbluefox3CameraDriver(void);
+
+ /**
+ * \brief open driver
+ *
+ * In this function, the driver must be openned. Openning errors must be
+ * taken into account. This function is automatically called by
+ * IriBaseDriver::doOpen(), an state transition is performed if return value
+ * equals true.
+ *
+ * \return bool successful
+ */
+ bool openDriver(void);
+
+ /**
+ * \brief close driver
+ *
+ * In this function, the driver must be closed. Variables related to the
+ * driver state must also be taken into account. This function is automatically
+ * called by IriBaseDriver::doClose(), an state transition is performed if
+ * return value equals true.
+ *
+ * \return bool successful
+ */
+ bool closeDriver(void);
+
+ /**
+ * \brief start driver
+ *
+ * After this function, the driver and its thread will be started. The driver
+ * and related variables should be properly setup. This function is
+ * automatically called by IriBaseDriver::doStart(), an state transition is
+ * performed if return value equals true.
+ *
+ * \return bool successful
+ */
+ bool startDriver(void);
+
+ /**
+ * \brief stop driver
+ *
+ * After this function, the driver's thread will stop its execution. The driver
+ * and related variables should be properly setup. This function is
+ * automatically called by IriBaseDriver::doStop(), an state transition is
+ * performed if return value equals true.
+ *
+ * \return bool successful
+ */
+ bool stopDriver(void);
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& new_cfg, uint32_t level=0);
+
+ /**
+ * \brief Get image
+ *
+ * Get image.
+ */
+ // void GetImage(char *image);
+ void GetROSImage(const int &ncam, sensor_msgs::Image &img_msg);
+
+ /**
+ * \brief Resize objects in driver class
+ *
+ * Resize objects in driver class.
+ *
+ */
+ void ResizeObjs(void);
+
+ /**
+ * \brief Set Configuration
+ *
+ * Set Configuration with vparams_ object (to be filled externally).
+ */
+ void SetConfig(const int &ncam);
+
+ /**
+ * \brief Get Configuration
+ *
+ * Get Configuration.
+ */
+ void GetConfig(const int &ncam);
+
+ /**
+ * \brief Conversion from pixel format to codings_t
+ *
+ * Conversion from pixel format to codings_t.
+ */
+ CMvbluefox3::codings_t PfToCodes(int &pf);
+
+ /**
+ * \brief Conversion from codings_t to pixel format
+ *
+ * Conversion from codings_t to pixel format.
+ */
+ int CodesToPf(CMvbluefox3::codings_t ct);
+
+ /**
+ * \brief Delete pointer
+ *
+ * Function to delete pointers.
+ */
+ template <typename Ptr_t>
+ void DelPtr(Ptr_t &ptr)
+ {
+ if (ptr != NULL)
+ {
+ ptr = NULL;
+ delete [] ptr;
+ }
+ }
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~Mvbluefox3CameraDriver(void);
+};
+
+#endif
diff --git a/include/mvbluefox3_camera_driver_node.h b/include/mvbluefox3_camera_driver_node.h
new file mode 100644
index 0000000000000000000000000000000000000000..d84d3be47951f9f36e1a799cf44d8023028a391f
--- /dev/null
+++ b/include/mvbluefox3_camera_driver_node.h
@@ -0,0 +1,200 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _mvbluefox3_camera_driver_node_h_
+#define _mvbluefox3_camera_driver_node_h_
+
+#include <iri_base_driver/iri_base_driver_node.h>
+#include "mvbluefox3_camera_driver.h"
+
+#include <sstream>
+
+// [publisher subscriber headers]
+#include <camera_info_manager/camera_info_manager.h>
+#include <image_transport/image_transport.h>
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ * This class inherits from the IRI Core class IriBaseNodeDriver<IriBaseDriver>,
+ * to provide an execution thread to the driver object. A complete framework
+ * with utilites to test the node functionallity or to add diagnostics to
+ * specific situations is also given. The inherit template design form allows
+ * complete access to any IriBaseDriver object implementation.
+ *
+ * As mentioned, tests in the different driver states can be performed through
+ * class methods such as addNodeOpenedTests() or addNodeRunningTests(). Tests
+ * common to all nodes may be also executed in the pattern class IriBaseNodeDriver.
+ * Similarly to the tests, diagnostics can easyly be added. See ROS Wiki for
+ * more details:
+ * http://www.ros.org/wiki/diagnostics/ (Tutorials: Creating a Diagnostic Analyzer)
+ * http://www.ros.org/wiki/self_test/ (Example: Self Test)
+ */
+class Mvbluefox3CameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Mvbluefox3CameraDriver>
+{
+ private:
+
+ // [publisher attributes]
+
+ image_transport::ImageTransport it;
+
+ std::vector<camera_info_manager::CameraInfoManager*> camera_manager;
+ std::vector<image_transport::CameraPublisher> image_publisher_;
+ std::vector<sensor_msgs::Image> image_msg_;
+
+ /**
+ * \brief Set camera parameters
+ *
+ * This function sets the camera parameters. The parameters must be loaded to parameter server (yaml) within a namepsace with the camera name.
+ */
+ void SetParams(const ros::NodeHandle &nh, const std::string &cam_name);
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [action server attributes]
+
+ // [action client attributes]
+
+ /**
+ * \brief post open hook
+ *
+ * This function is called by IriBaseNodeDriver::postOpenHook(). In this function
+ * specific parameters from the driver must be added so the ROS dynamic
+ * reconfigure application can update them.
+ */
+ void postNodeOpenHook(void);
+
+ public:
+ /**
+ * \brief constructor
+ *
+ * This constructor mainly creates and initializes the Mvbluefox3CameraDriverNode topics
+ * through the given public_node_handle object. IriBaseNodeDriver attributes
+ * may be also modified to suit node specifications.
+ *
+ * All kind of ROS topics (publishers, subscribers, servers or clients) can
+ * be easyly generated with the scripts in the iri_ros_scripts package. Refer
+ * to ROS and IRI Wiki pages for more details:
+ *
+ * http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++)
+ * http://www.ros.org/wiki/ROS/Tutorials/WritingServiceClient(c++)
+ * http://wikiri.upc.es/index.php/Robotics_Lab
+ *
+ * \param nh a reference to the node handle object to manage all ROS topics.
+ */
+ Mvbluefox3CameraDriverNode(ros::NodeHandle& nh);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~Mvbluefox3CameraDriverNode(void);
+
+
+ protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the driver is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ // [diagnostic functions]
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this function ROS diagnostics applied to this specific node may be
+ * added. Common use diagnostics for all nodes are already called from
+ * IriBaseNodeDriver::addDiagnostics(), which also calls this function. Information
+ * of how ROS diagnostics work can be readen here:
+ * http://www.ros.org/wiki/diagnostics/
+ * http://www.ros.org/doc/api/diagnostic_updater/html/example_8cpp-source.html
+ */
+ void addNodeDiagnostics(void);
+
+ // [driver test functions]
+
+ /**
+ * \brief open status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=open can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeOpenedTests(void);
+
+ /**
+ * \brief stop status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=stop can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeStoppedTests(void);
+
+ /**
+ * \brief run status driver tests
+ *
+ * In this function tests checking driver's functionallity when driver_base
+ * status=run can be added. Common use tests for all nodes are already called
+ * from IriBaseNodeDriver tests methods. For more details on how ROS tests work,
+ * please refer to the Self Test example in:
+ * http://www.ros.org/wiki/self_test/
+ */
+ void addNodeRunningTests(void);
+
+ /**
+ * \brief specific node dynamic reconfigure
+ *
+ * This function is called reconfigureHook()
+ *
+ * \param level integer
+ */
+ void reconfigureNodeHook(int level);
+
+};
+
+#endif
diff --git a/launch/iri_mvbluefox3_camera.launch b/launch/iri_mvbluefox3_camera.launch
new file mode 100644
index 0000000000000000000000000000000000000000..863a8997e674f64960217031939f033434e60cba
--- /dev/null
+++ b/launch/iri_mvbluefox3_camera.launch
@@ -0,0 +1,54 @@
+<!--DOCTYPE html-->
+<launch>
+
+ <arg name="num_cams" default="1" />
+
+ <arg name="c1_name" default="cam1" />
+ <arg name="c1_serial" default="F0300123" />
+ <arg name="c1_frame_id" default="$(arg c1_name)" />
+ <arg name="c1_tf_prefix" default="" />
+ <arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300123_params.xml" />
+ <!--<arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/example_params.xml" />-->
+ <arg name="c1_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml" />
+
+ <arg name="c2_name" default="cam2" />
+ <arg name="c2_serial" default="F0300141" />
+ <arg name="c2_frame_id" default="$(arg c2_name)" />
+ <arg name="c2_tf_prefix" default="" />
+ <arg name="c2_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300141_params.xml" />
+ <arg name="c2_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml" />
+
+ <node pkg="iri_mvbluefox3_camera"
+ name="iri_mvbluefox3_camera"
+ type="iri_mvbluefox3_camera"
+ output="screen">
+ <param name="num_cams" value="$(arg num_cams)"/>
+
+ <!-- CAMERA 1 -->
+ <param name="c1/name" value="$(arg c1_name)"/>
+ <param name="c1/serial" value="$(arg c1_serial)" />
+ <param name="c1/frame_id" value="$(arg c1_frame_id)"/>
+ <param name="c1/tf_prefix" value="$(arg c1_tf_prefix)"/>
+ <param name="c1/params_path" value="$(arg c1_params_path)"/>
+ <param name="c1/calib_file" value="$(arg c1_calib_file)"/>
+
+ <!-- CAMERA 2 -->
+ <param name="c2/name" value="$(arg c2_name)"/>
+ <param name="c2/serial" value="$(arg c2_serial)" />
+ <param name="c2/frame_id" value="$(arg c2_frame_id)" />
+ <param name="c2/tf_prefix" value="$(arg c2_tf_prefix)" />
+ <param name="c2/params_path" value="$(arg c2_params_path)" />
+ <param name="c2/calib_file" value="$(arg c2_calib_file)"/>
+ </node>
+
+
+ <!-- ########## VISUALIZATION ##########-->
+ <node pkg="image_view" type="image_view" name="image_view_$(arg c1_name)" >
+ <remap from="/image" to="/iri_mvbluefox3_camera/$(arg c1_name)/image_raw"/>
+ </node>
+
+<!-- <node pkg="image_view" type="image_view" name="image_view_$(arg c2_name)" >
+ <remap from="/image" to="/iri_mvbluefox3_camera/$(arg c2_name)/image_raw"/>
+ </node> -->
+
+</launch>
diff --git a/package.xml b/package.xml
index 251b5950e27079271e060d4e9778be8a0b245764..96b9a3048c2855eccabb1e79443dd52dd8373897 100644
--- a/package.xml
+++ b/package.xml
@@ -40,6 +40,7 @@
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
+
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>camera_info_manager</build_depend>
@@ -51,7 +52,6 @@
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>sensor_msgs</run_depend>
-
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
diff --git a/params/.F0300141_params.yaml b/params/.F0300141_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1e7e5d8411ddc24fb09c7240f5d8418c1119a9ea
--- /dev/null
+++ b/params/.F0300141_params.yaml
@@ -0,0 +1,44 @@
+serial: F0300141
+frame_id: mvbluefox3_F0300141
+tf_preix: ""
+
+#Image format
+pixel_format: 1 # e.g. mono8 = 1; rgb8 = 3;
+width: 1280
+height: 960
+img_rot_angle: 0.0
+mirror: 0
+set_aoi: false
+aoi_width: 1280
+aoi_height: 960
+aoi_start_x: 0
+aoi_start_y: 0
+h_binning_enbl: false
+h_binning: 1
+v_binning_enbl: false
+v_binning: 1
+
+# Acquisition
+frame_rate : 100000
+frate_limit_mode: 0
+pixel_clock: 66000
+req_timeout: 2000
+auto_ctrl_enbl: false
+auto_ctrl_speed: 1
+auto_expose: true
+auto_expose_upperlimit: 32759
+auto_expose_des_grey_val: 50
+expose_us: 10000
+auto_gain: false
+gain_db: 0
+gamma: false
+
+# Image processing
+whiteblnce_auto_enbl: true
+wb_r_gain: 1.0
+wb_b_gain: 1.0
+auto_blck_level: true
+blck_level: 0
+hdr_enbl: false
+dark_cfilter: 0
+twist_cfilter: false
\ No newline at end of file
diff --git a/params/F0300123_calib.yaml b/params/F0300123_calib.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..514d103b231f2938e1e822b2772927211ad38810
--- /dev/null
+++ b/params/F0300123_calib.yaml
@@ -0,0 +1,20 @@
+image_width: 1280
+image_height: 960
+camera_name: camera
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [976.915955, 0, 582.117763, 0, 977.821859, 440.568838, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.103886, 0.096744, -0.001615, -0.000599, 0.000000]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [953.288513, 0, 582.082677, 0, 0, 956.783997, 437.916171, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/params/F0300123_params.xml b/params/F0300123_params.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e50c22f4ffc83702ed0e0149baf3380994ac7242
--- /dev/null
+++ b/params/F0300123_params.xml
@@ -0,0 +1,2028 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<PropList contentDescriptor="mvBlueFOX3-M1012bC data(interface layout: GenICam)" name="DriverData" default="0" flags="3" size="7" parent="none" versionMajor="2" versionMinor="17" versionRelease="0">
+<PropList name="ImagingSubsystem" default="0" position="0" flags="3" size="5" parent="none">
+<PropList name="Setting" default="0" position="0" flags="3" size="1" parent="none">
+<PropList name="Base" default="0" position="0" flags="3" size="6" parent="none">
+<PropList name="Camera" default="0" position="1" flags="3" size="3" parent="none">
+<Property name="GenICamFeatureBag_91473E04-B76B-422d-8F52-A5D5A768C984" default="0" position="0" flags="7" size="1" formatString="%s" valType="4">
+<Value index="0"># {05D8C294-F295-4dfb-9D01-096BD04049F4}
+# GenApi persistence file (version 3.0.1)
+# Device = MATRIX_VISION::mvBlueFOX3 -- MATRIX VISION USB3Vision camera interface -- Device version = 53.0.0 -- Product GUID = 8A5441D1-A059-11E6-A17E-E9D83A4B713F -- Product version GUID = 8A5468E1-A059-11E6-8532-E9D83A4B713F
+DeviceClockSelector Sensor
+mvDeviceClockFrequency kHz_66000
+DeviceClockSelector Sensor
+DeviceScanType Areascan
+mvDeviceProcessingUnitSelector 0
+mvDeviceProcessingUnit mvFrameAverage
+mvDeviceProcessingUnitSelector 0
+DeviceLinkSelector 0
+DeviceLinkThroughputLimitMode Off
+DeviceLinkSelector 0
+Width 1280
+Height 960
+OffsetX 0
+OffsetY 0
+PixelFormat RGB8
+TestPattern Off
+BinningHorizontal 1
+DecimationHorizontal 1
+DecimationVertical 1
+ReverseX 0
+ReverseY 0
+AcquisitionMode Continuous
+ExposureMode Timed
+ExposureTime 20000
+ExposureAuto Off
+TriggerSelector FrameStart
+TriggerMode Off
+TriggerSelector AcquisitionStart
+TriggerMode Off
+TriggerSelector AcquisitionEnd
+TriggerMode Off
+TriggerSelector AcquisitionActive
+TriggerMode Off
+TriggerSelector mvTimestampReset
+TriggerMode Off
+TriggerSelector FrameBurstStart
+TriggerMode Off
+TriggerSelector FrameBurstActive
+TriggerMode Off
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerSource Line4
+TriggerSelector AcquisitionStart
+TriggerSource Line4
+TriggerSelector AcquisitionEnd
+TriggerSource Line4
+TriggerSelector AcquisitionActive
+TriggerSource Line4
+TriggerSelector mvTimestampReset
+TriggerSource Line4
+TriggerSelector FrameBurstStart
+TriggerSource Line4
+TriggerSelector FrameBurstActive
+TriggerSource Line4
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionStart
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionEnd
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionActive
+TriggerActivation LevelHigh
+TriggerSelector mvTimestampReset
+TriggerActivation RisingEdge
+TriggerSelector FrameBurstStart
+TriggerActivation RisingEdge
+TriggerSelector FrameBurstActive
+TriggerActivation LevelHigh
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerDelay 0
+TriggerSelector AcquisitionStart
+TriggerDelay 0
+TriggerSelector AcquisitionEnd
+TriggerDelay 0
+TriggerSelector AcquisitionActive
+TriggerDelay 0
+TriggerSelector mvTimestampReset
+TriggerDelay 0
+TriggerSelector FrameBurstStart
+TriggerDelay 0
+TriggerSelector FrameBurstActive
+TriggerDelay 0
+TriggerSelector FrameStart
+mvAcquisitionFrameRateLimitMode mvDeviceLinkThroughput
+AcquisitionFrameRateEnable 0
+mvAcquisitionFrameRateEnable Off
+AcquisitionFrameCount 1
+mvAcquisitionMemoryMode Default
+CounterSelector Counter1
+CounterEventSource Off
+CounterSelector Counter2
+CounterEventSource Off
+CounterSelector Counter3
+CounterEventSource Off
+CounterSelector Counter4
+CounterEventSource Off
+CounterSelector Counter1
+CounterSelector Counter1
+CounterResetSource Off
+CounterSelector Counter2
+CounterResetSource Off
+CounterSelector Counter3
+CounterResetSource Off
+CounterSelector Counter4
+CounterResetSource Off
+CounterSelector Counter1
+CounterSelector Counter1
+CounterTriggerSource Off
+CounterSelector Counter2
+CounterTriggerSource Off
+CounterSelector Counter3
+CounterTriggerSource Off
+CounterSelector Counter4
+CounterTriggerSource Off
+CounterSelector Counter1
+CounterSelector Counter1
+CounterDuration 10000
+CounterSelector Counter2
+CounterDuration 10000
+CounterSelector Counter3
+CounterDuration 10000
+CounterSelector Counter4
+CounterDuration 10000
+CounterSelector Counter1
+CounterSelector Counter1
+CounterValue 0
+CounterSelector Counter2
+CounterValue 0
+CounterSelector Counter3
+CounterValue 0
+CounterSelector Counter4
+CounterValue 0
+CounterSelector Counter1
+TimerSelector Timer1
+TimerTriggerSource Timer1End
+TimerSelector Timer2
+TimerTriggerSource Timer2End
+TimerSelector Timer1
+TimerSelector Timer1
+TimerDuration 20000
+TimerSelector Timer2
+TimerDuration 20000
+TimerSelector Timer1
+TimerSelector Timer1
+TimerDelay 0
+TimerSelector Timer2
+TimerDelay 0
+TimerSelector Timer1
+TimerSelector Timer1
+TimerValue 1128
+TimerSelector Timer2
+TimerValue 12347
+TimerSelector Timer1
+GainSelector AnalogAll
+Gain 0
+GainSelector DigitalAll
+Gain 0
+GainSelector AnalogAll
+GainSelector AnalogAll
+GainAuto Off
+GainSelector AnalogAll
+BlackLevelSelector All
+BlackLevel 0
+BlackLevelSelector DigitalAll
+BlackLevel 0
+BlackLevelSelector All
+BlackLevelSelector All
+BlackLevelAuto Continuous
+BlackLevelSelector All
+BalanceRatioSelector Red
+BalanceRatio 1.21
+BalanceRatioSelector Blue
+BalanceRatio 1.9
+BalanceRatioSelector Blue
+BalanceWhiteAuto Off
+mvLogicGateANDSelector mvLogicGateAND1
+mvLogicGateANDSource1 Off
+mvLogicGateANDSelector mvLogicGateAND2
+mvLogicGateANDSource1 Off
+mvLogicGateANDSelector mvLogicGateAND3
+mvLogicGateANDSource1 Off
+mvLogicGateANDSelector mvLogicGateAND4
+mvLogicGateANDSource1 Off
+mvLogicGateANDSelector mvLogicGateAND1
+mvLogicGateANDSelector mvLogicGateAND1
+mvLogicGateANDSource2 Off
+mvLogicGateANDSelector mvLogicGateAND2
+mvLogicGateANDSource2 Off
+mvLogicGateANDSelector mvLogicGateAND3
+mvLogicGateANDSource2 Off
+mvLogicGateANDSelector mvLogicGateAND4
+mvLogicGateANDSource2 Off
+mvLogicGateANDSelector mvLogicGateAND1
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSource1 mvLogicGateAND1Output
+mvLogicGateORSelector mvLogicGateOR2
+mvLogicGateORSource1 mvLogicGateAND2Output
+mvLogicGateORSelector mvLogicGateOR3
+mvLogicGateORSource1 mvLogicGateAND3Output
+mvLogicGateORSelector mvLogicGateOR4
+mvLogicGateORSource1 mvLogicGateAND4Output
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSource2 Off
+mvLogicGateORSelector mvLogicGateOR2
+mvLogicGateORSource2 Off
+mvLogicGateORSelector mvLogicGateOR3
+mvLogicGateORSource2 Off
+mvLogicGateORSelector mvLogicGateOR4
+mvLogicGateORSource2 Off
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSource3 Off
+mvLogicGateORSelector mvLogicGateOR2
+mvLogicGateORSource3 Off
+mvLogicGateORSelector mvLogicGateOR3
+mvLogicGateORSource3 Off
+mvLogicGateORSelector mvLogicGateOR4
+mvLogicGateORSource3 Off
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSelector mvLogicGateOR1
+mvLogicGateORSource4 Off
+mvLogicGateORSelector mvLogicGateOR2
+mvLogicGateORSource4 Off
+mvLogicGateORSelector mvLogicGateOR3
+mvLogicGateORSource4 Off
+mvLogicGateORSelector mvLogicGateOR4
+mvLogicGateORSource4 Off
+mvLogicGateORSelector mvLogicGateOR1
+ChunkModeActive 0
+ChunkSelector Image
+ChunkEnable 1
+ChunkSelector OffsetX
+ChunkEnable 1
+ChunkSelector OffsetY
+ChunkEnable 1
+ChunkSelector Width
+ChunkEnable 1
+ChunkSelector Height
+ChunkEnable 1
+ChunkSelector PixelFormat
+ChunkEnable 1
+ChunkSelector Timestamp
+ChunkEnable 1
+ChunkSelector LineStatusAll
+ChunkEnable 1
+ChunkSelector CounterValue
+ChunkEnable 1
+ChunkSelector TimerValue
+ChunkEnable 1
+ChunkSelector ExposureTime
+ChunkEnable 1
+ChunkSelector Gain
+ChunkEnable 1
+ChunkSelector mvCustomIdentifier
+ChunkEnable 1
+ChunkSelector Image
+LineSelector Line0
+LineSource Off
+LineSelector Line1
+LineSource Off
+LineSelector Line2
+LineSource Off
+LineSelector Line3
+LineSource Off
+LineSelector Line0
+LineSelector Line0
+LineInverter 0
+LineSelector Line1
+LineInverter 0
+LineSelector Line2
+LineInverter 0
+LineSelector Line3
+LineInverter 0
+LineSelector Line0
+LineSelector Line4
+mvLineDebounceTimeRisingEdge 0
+LineSelector Line5
+mvLineDebounceTimeRisingEdge 0
+LineSelector Line0
+LineSelector Line4
+mvLineDebounceTimeFallingEdge 0
+LineSelector Line5
+mvLineDebounceTimeFallingEdge 0
+LineSelector Line0
+UserOutputSelector UserOutput0
+UserOutputValue 0
+UserOutputSelector UserOutput1
+UserOutputValue 0
+UserOutputSelector UserOutput2
+UserOutputValue 0
+UserOutputSelector UserOutput3
+UserOutputValue 0
+UserOutputSelector UserOutput0
+UserOutputValueAll 0
+UserOutputValueAllMask 0
+mvFrameAverageEnable 0
+mvFrameAverageMode mvNTo1
+mvFrameAverageFrameCount 2
+ColorTransformationSelector RGBtoRGB
+ColorTransformationEnable 0
+ColorTransformationSelector RGBtoRGB
+ColorTransformationSelector RGBtoRGB
+ColorTransformationValueSelector Gain00
+ColorTransformationValue 1.86334
+ColorTransformationValueSelector Gain01
+ColorTransformationValue -0.586815
+ColorTransformationValueSelector Gain02
+ColorTransformationValue -0.219307
+ColorTransformationValueSelector Gain10
+ColorTransformationValue -0.423441
+ColorTransformationValueSelector Gain11
+ColorTransformationValue 1.50376
+ColorTransformationValueSelector Gain12
+ColorTransformationValue -0.0803193
+ColorTransformationValueSelector Gain20
+ColorTransformationValue -0.0407081
+ColorTransformationValueSelector Gain21
+ColorTransformationValue -0.856356
+ColorTransformationValueSelector Gain22
+ColorTransformationValue 2.18277
+ColorTransformationValueSelector Offset0
+ColorTransformationValue 0
+ColorTransformationValueSelector Offset1
+ColorTransformationValue 0
+ColorTransformationValueSelector Offset2
+ColorTransformationValue 0
+ColorTransformationSelector RGBtoRGB
+ColorTransformationValueSelector Gain00
+LUTSelector Red
+LUTEnable 0
+LUTSelector Green
+LUTEnable 0
+LUTSelector Blue
+LUTEnable 0
+LUTSelector Luminance
+LUTEnable 0
+LUTSelector Luminance
+LUTSelector Red
+LUTValueAll 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
+LUTSelector Green
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diff --git a/params/F0300141_calib.yaml b/params/F0300141_calib.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..78d36d6720e500783cbf84887b7f017c994ef885
--- /dev/null
+++ b/params/F0300141_calib.yaml
@@ -0,0 +1,20 @@
+image_width: 1280
+image_height: 960
+camera_name: camera
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [983.3368247116101, 0.0, 663.0390171499093, 0.0, 981.4430850536788, 396.26629958482715, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.1107801575668356, 0.1031381384744468, -0.0020878830811691044, -0.002987672654714989, 0.0]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [958.0409545898438, 0.0, 656.8482799260782, 0.0, 0.0, 961.90283203125, 393.4869532290468, 0.0, 0.0, 0.0, 1.0, 0.0]
diff --git a/params/F0300141_params.xml b/params/F0300141_params.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8f8f0d8f4477db96aa087371fdd311a5e5f1a6d
--- /dev/null
+++ b/params/F0300141_params.xml
@@ -0,0 +1,2061 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<PropList contentDescriptor="mvBlueFOX3-M1012bC data(interface layout: GenICam)" name="DriverData" default="0" flags="3" size="7" parent="none" versionMajor="2" versionMinor="18" versionRelease="0">
+<PropList name="ImagingSubsystem" default="0" position="0" flags="3" size="5" parent="none">
+<PropList name="Setting" default="0" position="0" flags="3" size="1" parent="none">
+<PropList name="Base" default="0" position="0" flags="3" size="6" parent="none">
+<PropList name="Camera" default="0" position="1" flags="3" size="3" parent="none">
+<Property name="GenICamFeatureBag_91473E04-B76B-422d-8F52-A5D5A768C984" default="0" position="0" flags="7" size="1" formatString="%s" valType="4">
+<Value index="0"># {05D8C294-F295-4dfb-9D01-096BD04049F4}
+# GenApi persistence file (version 3.0.0)
+# Device = MATRIX_VISION::mvBlueFOX3 -- MATRIX VISION USB3Vision camera interface -- Device version = 53.0.0 -- Product GUID = 8A5441D1-A059-11E6-A17E-E9D83A4B713F -- Product version GUID = 8A5468E1-A059-11E6-8532-E9D83A4B713F
+DeviceClockSelector Sensor
+mvDeviceClockFrequency kHz_66000
+DeviceClockSelector Sensor
+DeviceScanType Areascan
+mvDeviceProcessingUnitSelector 0
+mvDeviceProcessingUnit mvFrameAverage
+mvDeviceProcessingUnitSelector 0
+DeviceLinkSelector 0
+DeviceLinkThroughputLimitMode Off
+DeviceLinkSelector 0
+Width 1280
+Height 960
+OffsetX 0
+OffsetY 0
+PixelFormat BayerGR8
+TestPattern Off
+BinningHorizontal 1
+DecimationHorizontal 1
+DecimationVertical 1
+ReverseX 0
+ReverseY 0
+AcquisitionMode Continuous
+ExposureMode Timed
+ExposureTime 23399
+ExposureAuto Continuous
+mvExposureAutoLowerLimit 74
+mvExposureAutoUpperLimit 23399
+mvExposureAutoAverageGrey 50
+mvExposureAutoHighlightAOI Off
+mvExposureAutoAOIMode mvFull
+mvExposureAutoMode mvDevice
+TriggerSelector FrameStart
+TriggerMode Off
+TriggerSelector AcquisitionStart
+TriggerMode Off
+TriggerSelector AcquisitionEnd
+TriggerMode Off
+TriggerSelector AcquisitionActive
+TriggerMode Off
+TriggerSelector mvTimestampReset
+TriggerMode Off
+TriggerSelector FrameBurstStart
+TriggerMode Off
+TriggerSelector FrameBurstActive
+TriggerMode Off
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerSource Line4
+TriggerSelector AcquisitionStart
+TriggerSource Line4
+TriggerSelector AcquisitionEnd
+TriggerSource Line4
+TriggerSelector AcquisitionActive
+TriggerSource Line4
+TriggerSelector mvTimestampReset
+TriggerSource Line4
+TriggerSelector FrameBurstStart
+TriggerSource Line4
+TriggerSelector FrameBurstActive
+TriggerSource Line4
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionStart
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionEnd
+TriggerActivation RisingEdge
+TriggerSelector AcquisitionActive
+TriggerActivation LevelHigh
+TriggerSelector mvTimestampReset
+TriggerActivation RisingEdge
+TriggerSelector FrameBurstStart
+TriggerActivation RisingEdge
+TriggerSelector FrameBurstActive
+TriggerActivation LevelHigh
+TriggerSelector FrameStart
+TriggerSelector FrameStart
+TriggerDelay 0
+TriggerSelector AcquisitionStart
+TriggerDelay 0
+TriggerSelector AcquisitionEnd
+TriggerDelay 0
+TriggerSelector AcquisitionActive
+TriggerDelay 0
+TriggerSelector mvTimestampReset
+TriggerDelay 0
+TriggerSelector FrameBurstStart
+TriggerDelay 0
+TriggerSelector FrameBurstActive
+TriggerDelay 0
+TriggerSelector FrameStart
+mvAcquisitionFrameRateLimitMode mvDeviceLinkThroughput
+AcquisitionFrameRateEnable 1
+mvAcquisitionFrameRateEnable On
+AcquisitionFrameRate 25.3
+AcquisitionFrameCount 1
+mvAcquisitionMemoryMode Default
+CounterSelector Counter1
+CounterEventSource Off
+CounterSelector Counter2
+CounterEventSource Off
+CounterSelector Counter3
+CounterEventSource Off
+CounterSelector Counter4
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+<Value index="0" val="NearestNeighbor"></Value>
+</Property>
+<Property name="ImageWidth" default="0" position="3" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="640"></Value>
+</Property>
+<Property name="ImageHeight" default="0" position="4" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="480"></Value>
+</Property>
+</PropList>
+<PropList name="RequestInfo" default="0" position="5" flags="3" size="9" parent="none">
+<Property name="FrameID" default="0" position="3" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="ExposeStart_us" default="0" position="4" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="ExposeTime_us" default="0" position="5" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="Gain_dB" default="0" position="6" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="VideoChannel" default="0" position="7" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="MissingData_pc" default="0" position="8" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+</PropList>
+</PropList>
+</PropList>
+<PropList name="DeviceSpecificData" default="0" position="4" flags="3" size="3" parent="none">
+<Property name="DefectiveFilterParameter" default="0" position="0" flags="2055" size="1" formatString="%s" valType="4">
+<Value index="0" val=""></Value>
+</Property>
+<Property name="FlatFieldFilterParameter" default="0" position="1" flags="2055" size="1" formatString="%s" valType="4">
+<Value index="0" val=""></Value>
+</Property>
+<Property name="DarkCurrentFilterParameter" default="0" position="2" flags="2055" size="1" formatString="%s" valType="4">
+<Value index="0" val=""></Value>
+</Property>
+</PropList>
+</PropList>
+<PropList name="System" default="0" position="5" flags="3" size="12" parent="none">
+<Property name="WorkerPriority" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="TimeCritical"></Value>
+</Property>
+<Property name="RequestCount" default="0" position="1" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="10"></Value>
+</Property>
+<PropList name="MemoryInit" default="0" position="2" flags="3" size="6" parent="none">
+<Property name="MemoryInitEnable" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="Off"></Value>
+</Property>
+<Property name="MemoryInitMode" default="0" position="1" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="FixedValue"></Value>
+</Property>
+<Property name="MemoryInitValue" default="0" position="2" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="0"></Value>
+</Property>
+<Property name="MemoryInitPattern" default="0" position="3" flags="2055" size="1" formatString="%s" valType="4">
+<Value index="0" val=""></Value>
+</Property>
+<Property name="MemoryInitPatternFileName" default="0" position="4" flags="2055" size="1" formatString="%s" valType="4">
+<Value index="0" val=""></Value>
+</Property>
+</PropList>
+<PropList name="ImageProcessingControl" default="0" position="3" flags="3" size="2" parent="none">
+<Property name="ImageProcessingOptimization" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="MinimizeMemoryUsage"></Value>
+</Property>
+<Property name="ImageProcessingMode" default="0" position="1" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="ProcessLatestOnly"></Value>
+</Property>
+</PropList>
+<Property name="FeaturePollingEnable" default="0" position="6" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="On"></Value>
+</Property>
+<Property name="FeaturePollingInterval_ms" default="0" position="7" flags="7" size="1" formatString="%d ms" valType="1">
+<Value index="0" val="200 ms"></Value>
+</Property>
+<Property name="MethodPollingInterval_ms" default="0" position="8" flags="7" size="1" formatString="%d ms" valType="1">
+<Value index="0" val="100 ms"></Value>
+</Property>
+<Property name="MethodPollingMaxRetryCount" default="0" position="9" flags="7" size="1" formatString="%d" valType="1">
+<Value index="0" val="5"></Value>
+</Property>
+<Property name="AcquisitionIdleTimeMax_ms" default="0" position="10" flags="7" size="1" formatString="%d ms" valType="1">
+<Value index="0" val="150 ms"></Value>
+</Property>
+</PropList>
+</PropList>
diff --git a/src/mvbluefox3_camera_driver.cpp b/src/mvbluefox3_camera_driver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..eaedd591b9621bc226283dd44ae9dc0b7d95e638
--- /dev/null
+++ b/src/mvbluefox3_camera_driver.cpp
@@ -0,0 +1,372 @@
+#include "mvbluefox3_camera_driver.h"
+
+Mvbluefox3CameraDriver::Mvbluefox3CameraDriver(void)
+{
+ this->num_cams = 1;
+ this->ini_user_params = false;
+ this->ini_dynrec = true;
+}
+
+Mvbluefox3CameraDriver::~Mvbluefox3CameraDriver(void)
+{
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ DelPtr(this->vcam_ptr[ii]);
+}
+
+void Mvbluefox3CameraDriver::ResizeObjs(void)
+{
+ this->vcam_ptr.resize(this->num_cams); // Camera pointers.
+ this->vparams.resize(this->num_cams); // Camera parameters.
+ this->vserial.resize(this->num_cams); // Serial numbers.
+ this->vframe_id.resize(this->num_cams); // Frame ids.
+ this->vcam_name.resize(this->num_cams); // Camera names.
+ this->vparams_path.resize(this->num_cams); // Parameters' paths.
+}
+
+bool Mvbluefox3CameraDriver::openDriver(void)
+{
+ try
+ {
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ {
+ this->vcam_ptr[ii] = NULL;
+
+ if( !this->vserial[ii].empty() )
+ {
+ std::cout << "[mvBlueFOX3]: Trying to open device with serial: " << this->vserial[ii] << std::endl;
+
+ if (devMgr.getDeviceBySerial(this->vserial[ii]) == 0)
+ {
+ std::cerr << this->vcam_name[ii] << " not found! Unable to continue. " << std::endl;
+ return true;
+ }
+ else
+ {
+ this->vcam_ptr[ii] = new CMvbluefox3::CMvbluefox3(devMgr.getDeviceBySerial(this->vserial[ii]),this->vparams_path[ii]);
+ }
+ }
+ else
+ {
+ std::cerr << this->vcam_name[ii] << " not found because serial number is not specified!" << std::endl;
+ return true;
+ }
+ }
+ }catch (CMvbluefox3::CmvBlueFOX3Exception& e)
+ {
+ std::cerr << e.what() << std::endl;
+ return false;
+ }
+ std::cout << "[mvBlueFOX3]: All cameras successfully opened." << std::endl;
+
+ // Initialize parameters set from ROS node.
+ if (this->ini_user_params)
+ {
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ SetConfig(ii);
+ this->ini_user_params = false;
+ }
+ return true;
+}
+
+bool Mvbluefox3CameraDriver::closeDriver(void)
+{
+ try
+ {
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ this->vcam_ptr[ii]->CloseDevice();
+ std::cout << "[mvBlueFOX3]: Driver closed." << std::endl;
+ }catch (CMvbluefox3::CmvBlueFOX3Exception& e)
+ {
+ std::cerr << e.what() << std::endl;
+ }
+ return true;
+}
+
+bool Mvbluefox3CameraDriver::startDriver(void)
+{
+ return true;
+}
+
+bool Mvbluefox3CameraDriver::stopDriver(void)
+{
+ return true;
+}
+
+void Mvbluefox3CameraDriver::config_update(Config& new_cfg, uint32_t level)
+{
+ this->lock();
+
+ switch(this->getState())
+ {
+ case Mvbluefox3CameraDriver::CLOSED:
+ break;
+
+ case Mvbluefox3CameraDriver::OPENED:
+
+ // Initialize dynamic reconfigure with first camera
+ if (this->ini_dynrec && this->num_cams > 0)
+ {
+ GetConfig(0);
+ new_cfg = ParamsToDynRec(0,this->vparams[0]);
+ this->ini_dynrec = false;
+ }
+
+ // Set new config is requested
+ if (new_cfg.apply_cfg)
+ {
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ {
+ if (this->vcam_name[ii].compare(new_cfg.cam_name) == 0)
+ {
+ // Fill parameters
+ this->vparams[ii] = DynRecToParams(new_cfg);
+ SetConfig(ii);
+ GetConfig(ii);
+ new_cfg = ParamsToDynRec(ii,this->vparams[ii]);
+ }
+ }
+ new_cfg.apply_cfg = false;
+ }
+ break;
+
+ case Mvbluefox3CameraDriver::RUNNING:
+ break;
+ }
+
+ // save the current configuration
+ this->config_=new_cfg;
+
+ this->unlock();
+}
+
+CMvbluefox3::CParams Mvbluefox3CameraDriver::DynRecToParams(iri_mvbluefox3_camera::Mvbluefox3CameraConfig &cfg)
+{
+ CMvbluefox3::CParams p;
+
+ p.pixel_format = PfToCodes(cfg.pixel_format);
+ p.width = cfg.width;
+ p.height = cfg.height;
+ p.img_rot_angle = cfg.img_rot_angle;
+ p.mirror = cfg.mirror;
+ p.set_aoi = cfg.set_aoi;
+ p.aoi_width = cfg.aoi_width;
+ p.aoi_height = cfg.aoi_height;
+ p.aoi_start_x = cfg.aoi_start_x;
+ p.aoi_start_y = cfg.aoi_start_y;
+ p.h_binning_enbl = cfg.h_binning_enbl;
+ p.h_binning = cfg.h_binning;
+ p.v_binning_enbl = cfg.v_binning_enbl;
+ p.v_binning = cfg.v_binning;
+ p.frame_rate = cfg.frame_rate;
+ p.pixel_clock = cfg.pixel_clock;
+ p.req_timeout = cfg.req_timeout;
+ p.auto_ctrl_enbl = cfg.auto_ctrl_enbl;
+ p.auto_ctrl_speed = cfg.auto_ctrl_speed;
+ p.auto_expose = cfg.auto_expose;
+ p.auto_expose_upperlimit = cfg.auto_expose_upperlimit;
+ p.auto_expose_des_grey_val = cfg.auto_expose_des_grey_val;
+ p.expose_us = cfg.expose_us;
+ p.auto_gain = cfg.auto_gain;
+ p.gain_db = cfg.gain_db;
+ p.gamma = cfg.gamma;
+ p.whiteblnce_auto_enbl = cfg.whiteblnce_auto_enbl;
+ p.wb_r_gain = cfg.wb_r_gain;
+ p.wb_b_gain = cfg.wb_b_gain;
+ p.auto_blck_level = cfg.auto_blck_level;
+ p.blck_level = cfg.blck_level;
+ p.hdr_enbl = cfg.hdr_enbl;
+ p.dark_cfilter = cfg.dark_cfilter;
+ p.twist_cfilter = cfg.twist_cfilter;
+
+ return p;
+}
+
+iri_mvbluefox3_camera::Mvbluefox3CameraConfig Mvbluefox3CameraDriver::ParamsToDynRec(const int &cam_num, const CMvbluefox3::CParams &p)
+{
+ iri_mvbluefox3_camera::Mvbluefox3CameraConfig cfg;
+
+ cfg.apply_cfg = false;
+ cfg.cam_name = this->vcam_name[cam_num];
+ cfg.pixel_format = CodesToPf(p.pixel_format);
+ cfg.width = p.width;
+ cfg.height = p.height;
+ cfg.img_rot_angle = p.img_rot_angle;
+ cfg.mirror = p.mirror;
+ cfg.set_aoi = p.set_aoi;
+ cfg.aoi_width = p.aoi_width;
+ cfg.aoi_height = p.aoi_height;
+ cfg.aoi_start_x = p.aoi_start_x;
+ cfg.aoi_start_y = p.aoi_start_y;
+ cfg.h_binning_enbl = p.h_binning_enbl;
+ cfg.h_binning = p.h_binning;
+ cfg.v_binning_enbl = p.v_binning_enbl;
+ cfg.v_binning = p.v_binning;
+ cfg.frame_rate = p.frame_rate;
+ cfg.pixel_clock = p.pixel_clock;
+ cfg.req_timeout = p.req_timeout;
+ cfg.auto_ctrl_enbl = p.auto_ctrl_enbl;
+ cfg.auto_ctrl_speed = p.auto_ctrl_speed;
+ cfg.auto_expose = p.auto_expose;
+ cfg.auto_expose_upperlimit = p.auto_expose_upperlimit;
+ cfg.auto_expose_des_grey_val = p.auto_expose_des_grey_val;
+ cfg.expose_us = p.expose_us;
+ cfg.auto_gain = p.auto_gain;
+ cfg.gain_db = p.gain_db;
+ cfg.gamma = p.gamma;
+ cfg.whiteblnce_auto_enbl = p.whiteblnce_auto_enbl;
+ cfg.wb_r_gain = p.wb_r_gain;
+ cfg.wb_b_gain = p.wb_b_gain;
+ cfg.auto_blck_level = p.auto_blck_level;
+ cfg.blck_level = p.blck_level;
+ cfg.hdr_enbl = p.hdr_enbl;
+ cfg.dark_cfilter = p.dark_cfilter;
+ cfg.twist_cfilter = p.twist_cfilter;
+
+ return cfg;
+}
+
+
+CMvbluefox3::codings_t Mvbluefox3CameraDriver::PfToCodes(int &pf)
+{
+ CMvbluefox3::codings_t ct;
+ switch (pf)
+ {
+ case 0: ct = CMvbluefox3::raw; break;
+ case 1: ct = CMvbluefox3::mono8; break;
+ case 2: ct = CMvbluefox3::mono16; break;
+ case 3: ct = CMvbluefox3::bgr8; break;
+ case 4: ct = CMvbluefox3::bgr16; break;
+ case 5: ct = CMvbluefox3::rgb8; break;
+ case 6: ct = CMvbluefox3::yuv422; break;
+ case 7: ct = CMvbluefox3::yuv444; break;
+ }
+ return ct;
+}
+
+int Mvbluefox3CameraDriver::CodesToPf(CMvbluefox3::codings_t ct)
+{
+ int pf;
+ switch (ct)
+ {
+ case CMvbluefox3::raw: pf = 0; break;
+ case CMvbluefox3::mono8: pf = 1; break;
+ case CMvbluefox3::mono16: pf = 2; break;
+ case CMvbluefox3::bgr8: pf = 3; break;
+ case CMvbluefox3::bgr16: pf = 4; break;
+ case CMvbluefox3::rgb8: pf = 5; break;
+ case CMvbluefox3::yuv422: pf = 6; break;
+ case CMvbluefox3::yuv444: pf = 7; break;
+ }
+ return pf;
+}
+
+
+void Mvbluefox3CameraDriver::SetConfig(const int &ncam)
+{
+ try
+ {
+ this->vcam_ptr[ncam]->SetConfig(this->vparams[ncam]);
+ std::cout << "[mvBlueFOX3]: New configuration set for " << this->vcam_name[ncam] << "." << std::endl;
+ }catch (CMvbluefox3::CmvBlueFOX3Exception& e)
+ {
+ std::cerr << e.what() << std::endl;
+ }
+}
+
+void Mvbluefox3CameraDriver::GetConfig(const int &ncam)
+{
+ this->vparams[ncam] = this->vcam_ptr[ncam]->GetConfig();
+}
+
+void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &img_msg)
+{
+ ros::Time start_time = ros::Time::now();
+
+ char *image = NULL;
+ this->vcam_ptr[ncam]->GetImage(&image);
+ GetConfig(ncam);
+
+ std::string encoding;
+ encoding = CMvbluefox3::codings_str[this->vparams[ncam].pixel_format];
+
+ int bp = this->vcam_ptr[ncam]->GetBytesPixel();
+ int depth = this->vcam_ptr[ncam]->GetDepth();
+
+ bool ROSvalid = true;
+ switch (this->vparams[ncam].pixel_format)
+ {
+ case CMvbluefox3::raw:
+
+ if (depth/8 == 1)
+ {
+ encoding = "8UC1";
+ switch (bp)
+ {
+ case 1: encoding = "mono8"; break; // FIX: Should be 8UC1 but changed because cv_bridge cannot convert formats
+ case 2: encoding = "8UC2"; break;
+ case 3: encoding = "rgb8"; break; // FIX: Should be 8UC3 but changed because cv_bridge cannot convert formats
+ case 4: encoding = "rgba8"; break; // FIX: Should be 8UC4 but changed because cv_bridge cannot convert formats
+ default: ROS_WARN("Invalid depth. Depth not implemented here."); break;
+ }
+ }
+ else if (depth/8 == 2)
+ {
+ encoding = "16UC1";
+ switch (bp)
+ {
+ case 1: encoding = "mono16"; break; // FIX: Should be 16UC1 but changed because cv_bridge cannot convert formats
+ case 2: encoding = "16UC2"; break;
+ case 3: encoding = "16UC3"; break;
+ case 4: encoding = "16UC4"; break;
+ default: ROS_WARN("Invalid depth. Depth not implemented here."); break;
+ }
+ }
+ else
+ ROS_WARN("Invalid depth. Depth not implemented here.");
+ break;
+ case CMvbluefox3::mono8: break;
+ case CMvbluefox3::mono10: ROSvalid = false; break;
+ case CMvbluefox3::mono12: ROSvalid = false; break;
+ case CMvbluefox3::mono12v1: ROSvalid = false; break;
+ case CMvbluefox3::mono12v2: ROSvalid = false; break;
+ case CMvbluefox3::mono14: ROSvalid = false; break;
+ case CMvbluefox3::mono16: encoding = "16UC1"; break;
+ case CMvbluefox3::rgb8: break;
+ case CMvbluefox3::bgr8: break;
+ case CMvbluefox3::bgr8p: ROSvalid = false; break;
+ case CMvbluefox3::bgra8p: ROSvalid = false; break;
+ case CMvbluefox3::bgr10: ROSvalid = false; break;
+ case CMvbluefox3::bgr12: ROSvalid = false; break;
+ case CMvbluefox3::bgr14: ROSvalid = false; break;
+ case CMvbluefox3::bgr16: encoding = "16UC3"; break;
+ case CMvbluefox3::bgra8: ROSvalid = false; break;
+ case CMvbluefox3::yuv411uyyvyy: ROSvalid = false; break;
+ case CMvbluefox3::yuv422: break;
+ case CMvbluefox3::yuv422p: ROSvalid = false; break;
+ case CMvbluefox3::yuv42210: ROSvalid = false; break;
+ case CMvbluefox3::yuv422uyvy: ROSvalid = false; break;
+ case CMvbluefox3::yuv422uyvy10: ROSvalid = false; break;
+ case CMvbluefox3::yuv444: ROSvalid = false; break;
+ case CMvbluefox3::yuv44410p: ROSvalid = false; break;
+ case CMvbluefox3::yuv444uyv: ROSvalid = false; break;
+ case CMvbluefox3::yuv444uyv10: ROSvalid = false; break;
+ }
+
+ if (!ROSvalid)
+ ROS_WARN("mvBlueFOX3 pixel format %s no valid within ROS messages.",encoding.c_str());
+
+ sensor_msgs::fillImage(img_msg,
+ encoding,
+ this->vparams[ncam].height,
+ this->vparams[ncam].width,
+ this->vcam_ptr[ncam]->GetImgLinePitch(),
+ image);
+
+ double req_dur_sec = (double)(this->vcam_ptr[ncam]->ReqExposeUs())*1e-6;
+ img_msg.header.stamp = start_time + ros::Duration(req_dur_sec/2.0);
+ img_msg.header.frame_id = this->vframe_id[ncam];
+
+ delete [] image;
+}
+
+
diff --git a/src/mvbluefox3_camera_driver_node.cpp b/src/mvbluefox3_camera_driver_node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7ad5ae4bdfc5682a35c9e1dfbc20451e6514e014
--- /dev/null
+++ b/src/mvbluefox3_camera_driver_node.cpp
@@ -0,0 +1,212 @@
+#include "mvbluefox3_camera_driver_node.h"
+
+Mvbluefox3CameraDriverNode::Mvbluefox3CameraDriverNode(ros::NodeHandle &nh) :
+ iri_base_driver::IriBaseNodeDriver<Mvbluefox3CameraDriver>(nh),
+ it(this->public_node_handle_)
+{
+ //init class attributes if necessary
+ this->loop_rate_ = 50;//in [Hz]
+
+ // [init publishers]
+
+ this->driver_.lock();
+ this->public_node_handle_.param<int>("num_cams", this->driver_.num_cams, 1);
+
+ // Resize all objects
+ this->driver_.ResizeObjs();
+ this->camera_manager.resize(this->driver_.num_cams);
+ this->image_publisher_.resize(this->driver_.num_cams);
+ this->image_msg_.resize(this->driver_.num_cams);
+
+ for (int ii = 0; ii < this->driver_.num_cams; ++ii)
+ {
+ // Generate camera name
+ std::stringstream cn;
+ cn << "c" << ii+1;
+
+ // get camera name
+ std::string cam_name = cn.str() + "/name";
+ this->public_node_handle_.param<std::string>(cam_name, this->driver_.vcam_name[ii], "c1aa");
+
+ // generate camera manager
+ std::string cam_mgr_name = "~" + this->driver_.vcam_name[ii] + std::string("/image_raw");
+ this->camera_manager[ii] = new camera_info_manager::CameraInfoManager(cam_mgr_name);
+
+ // get topic name adn advertise publisher
+ std::string img_name = this->driver_.vcam_name[ii] + "/image_raw";
+ this->image_publisher_[ii] = this->it.advertiseCamera(img_name, 1);
+
+ // Constant parameters
+ std::string frame_id, tf_prefix, image_cal_file;
+ std::string frame_id_name = cn.str() + "/frame_id";
+ std::string tf_prefix_name = cn.str() + "/tf_prefix";
+ std::string serial_name = cn.str() + "/serial";
+ std::string params_path_name = cn.str() + "/params_path";
+ std::string image_cal_file_name = cn.str() + "/calib_file";
+ this->public_node_handle_.param<std::string>(frame_id_name, frame_id, "");
+ this->public_node_handle_.param<std::string>(tf_prefix_name, tf_prefix, "");
+ this->driver_.vframe_id[ii] = tf_prefix + "/" + frame_id;
+ this->public_node_handle_.param<std::string>(serial_name, this->driver_.vserial[ii], "");
+ this->public_node_handle_.param<std::string>(params_path_name, this->driver_.vparams_path[ii], "");
+ this->public_node_handle_.param<std::string>(image_cal_file_name,image_cal_file,"");
+
+ // Get calibration file
+ std::stringstream err_msg;
+ err_msg << "Invalid calibration file for " << this->driver_.vcam_name[ii];
+ if(this->camera_manager[ii]->validateURL(image_cal_file))
+ {
+ if(!this->camera_manager[ii]->loadCameraInfo(image_cal_file))
+ ROS_WARN("%s", err_msg.str().c_str());
+ }
+ else
+ ROS_WARN("%s", err_msg.str().c_str());
+
+ // Get and Set camera parameters.
+ // this function is not used here because loading parameters
+ // from an XML file is a preferred method
+ // (e.g. use wxPropView to store it and specify its path
+ // in the launch file).
+ // However in case of preferring to configure only main settings
+ // with a simpler file, uncomment the following function (see 1) and load a YAML file in the launch file (see step 2).
+ // An example of YAML file is added in the /params folder but hidden
+ // (.F0300141_params.yaml)
+
+ // 1) UNCOMMENT:
+ // SetParams(this->public_node_handle_, this->driver_.vcam_name[ii]);
+ // 2) Add in the node section of launch file (example): <rosparam ns="c1" file="$(find iri_mvbluefox3_camera)/params/F0300141_params.yaml" command="load"/>
+ }
+
+ this->driver_.unlock();
+
+ // [init subscribers]
+
+ // [init services]
+
+ // [init clients]
+
+ // [init action servers]
+
+ // [init action clients]
+}
+
+void Mvbluefox3CameraDriverNode::mainNodeThread(void)
+{
+ // [fill msg Header if necessary]
+
+ // [fill msg structures]
+
+ // Image
+ for (int ii = 0; ii < this->driver_.num_cams; ++ii)
+ {
+ this->driver_.lock();
+ this->driver_.GetROSImage(ii,this->image_msg_[ii]);
+ this->driver_.unlock();
+
+ // Camera info
+ sensor_msgs::CameraInfo camera_info = this->camera_manager[ii]->getCameraInfo();
+ camera_info.header = this->image_msg_[ii].header;
+ this->image_publisher_[ii].publish(this->image_msg_[ii],camera_info);
+ }
+
+ // [fill srv structure and make request to the server]
+
+ // [fill action structure and make request to the action server]
+
+ // [publish messages]
+
+}
+
+/* [subscriber callbacks] */
+
+/* [service callbacks] */
+
+/* [action callbacks] */
+
+/* [action requests] */
+
+void Mvbluefox3CameraDriverNode::postNodeOpenHook(void)
+{
+}
+
+void Mvbluefox3CameraDriverNode::addNodeDiagnostics(void)
+{
+}
+
+void Mvbluefox3CameraDriverNode::addNodeOpenedTests(void)
+{
+}
+
+void Mvbluefox3CameraDriverNode::addNodeStoppedTests(void)
+{
+}
+
+void Mvbluefox3CameraDriverNode::addNodeRunningTests(void)
+{
+}
+
+void Mvbluefox3CameraDriverNode::reconfigureNodeHook(int level)
+{
+}
+
+Mvbluefox3CameraDriverNode::~Mvbluefox3CameraDriverNode(void)
+{
+ for (int ii = 0; ii < this->driver_.num_cams; ++ii)
+ this->driver_.DelPtr(this->camera_manager[ii]);
+ // [free dynamic memory]
+}
+
+// Optional function. See Class constructor.
+void Mvbluefox3CameraDriverNode::SetParams(const ros::NodeHandle &nh, const std::string &cam_name)
+{
+ std::string node_str;
+
+ for (int ii = 0; ii < this->driver_.num_cams; ++ii)
+ {
+ node_str = ros::this_node::getName() + "/" + this->driver_.vcam_name[ii] + "/";
+
+ int pf;
+ nh.getParam(node_str + "pixel_format", pf);
+ this->driver_.vparams[ii].pixel_format = this->driver_.PfToCodes(pf);
+ nh.getParam(node_str + "width", this->driver_.vparams[ii].width);
+ nh.getParam(node_str + "height", this->driver_.vparams[ii].height);
+ nh.getParam(node_str + "img_rot_angle", this->driver_.vparams[ii].img_rot_angle);
+ nh.getParam(node_str + "mirror", this->driver_.vparams[ii].mirror);
+ nh.getParam(node_str + "set_aoi", this->driver_.vparams[ii].set_aoi);
+ nh.getParam(node_str + "aoi_width", this->driver_.vparams[ii].aoi_width);
+ nh.getParam(node_str + "aoi_height", this->driver_.vparams[ii].aoi_height);
+ nh.getParam(node_str + "aoi_start_x", this->driver_.vparams[ii].aoi_start_x);
+ nh.getParam(node_str + "aoi_start_y", this->driver_.vparams[ii].aoi_start_y);
+ nh.getParam(node_str + "h_binning_enbl", this->driver_.vparams[ii].h_binning_enbl);
+ nh.getParam(node_str + "h_binning", this->driver_.vparams[ii].h_binning);
+ nh.getParam(node_str + "v_binning_enbl", this->driver_.vparams[ii].v_binning_enbl);
+ nh.getParam(node_str + "v_binning", this->driver_.vparams[ii].v_binning);
+ nh.getParam(node_str + "frame_rate", this->driver_.vparams[ii].frame_rate);
+ nh.getParam(node_str + "pixel_clock", this->driver_.vparams[ii].pixel_clock);
+ nh.getParam(node_str + "req_timeout", this->driver_.vparams[ii].req_timeout);
+ nh.getParam(node_str + "auto_ctrl_enbl", this->driver_.vparams[ii].auto_ctrl_enbl);
+ nh.getParam(node_str + "auto_ctrl_speed", this->driver_.vparams[ii].auto_ctrl_speed);
+ nh.getParam(node_str + "auto_expose", this->driver_.vparams[ii].auto_expose);
+ nh.getParam(node_str + "auto_expose_upperlimit", this->driver_.vparams[ii].auto_expose_upperlimit);
+ nh.getParam(node_str + "auto_expose_des_grey_val", this->driver_.vparams[ii].auto_expose_des_grey_val);
+ nh.getParam(node_str + "expose_us", this->driver_.vparams[ii].expose_us);
+ nh.getParam(node_str + "auto_gain", this->driver_.vparams[ii].auto_gain);
+ nh.getParam(node_str + "gain_db", this->driver_.vparams[ii].gain_db);
+ nh.getParam(node_str + "gamma", this->driver_.vparams[ii].gamma);
+ nh.getParam(node_str + "whiteblnce_auto_enbl", this->driver_.vparams[ii].whiteblnce_auto_enbl);
+ nh.getParam(node_str + "wb_r_gain", this->driver_.vparams[ii].wb_r_gain);
+ nh.getParam(node_str + "wb_b_gain", this->driver_.vparams[ii].wb_b_gain);
+ nh.getParam(node_str + "blck_level", this->driver_.vparams[ii].blck_level);
+ nh.getParam(node_str + "auto_blck_level", this->driver_.vparams[ii].auto_blck_level);
+ nh.getParam(node_str + "hdr_enbl", this->driver_.vparams[ii].hdr_enbl);
+ nh.getParam(node_str + "dark_cfilter", this->driver_.vparams[ii].dark_cfilter);
+ nh.getParam(node_str + "twist_cfilter", this->driver_.vparams[ii].twist_cfilter);
+ }
+
+ this->driver_.ini_user_params = true;
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+ return driver_base::main<Mvbluefox3CameraDriverNode>(argc, argv, "mvbluefox3_camera_driver_node");
+}