From 1de50a48031c33d404174b56100f11a65d4a1a07 Mon Sep 17 00:00:00 2001
From: Angel Santamaria-Navarro <asantamaria@iri.upc.edu>
Date: Thu, 15 Dec 2016 17:20:52 +0100
Subject: [PATCH] almost working. to be solved naming in launch and verify
parameters
---
cfg/Mvbluefox3Camera.cfg | 16 +----
include/mvbluefox3_camera_driver.h | 71 ++++++++++----------
include/mvbluefox3_camera_driver_node.h | 12 ++--
launch/iri_mvbluefox3_camera.launch | 28 ++++----
params/F0300123_calib.yaml | 21 ++++++
params/F0300123_params.yaml | 45 +++++++++++++
params/F0300141_calib.yaml | 2 +-
params/F0300141_params.yaml | 86 +++++++++++++------------
src/mvbluefox3_camera_driver.cpp | 50 +++++++++-----
src/mvbluefox3_camera_driver_node.cpp | 71 ++++++++++++++++++--
10 files changed, 268 insertions(+), 134 deletions(-)
create mode 100644 params/F0300123_calib.yaml
create mode 100644 params/F0300123_params.yaml
diff --git a/cfg/Mvbluefox3Camera.cfg b/cfg/Mvbluefox3Camera.cfg
index 0dc19fe..ac3bd02 100755
--- a/cfg/Mvbluefox3Camera.cfg
+++ b/cfg/Mvbluefox3Camera.cfg
@@ -68,7 +68,7 @@ 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", "cam1")
+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)
@@ -121,18 +121,4 @@ gen.add("dark_cfilter", int_t, SensorLevels.RECONFIGURE_STOP, "Da
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
index 41a6ee1..1d07318 100644
--- a/include/mvbluefox3_camera_driver.h
+++ b/include/mvbluefox3_camera_driver.h
@@ -61,21 +61,7 @@ class Mvbluefox3CameraDriver : public iri_base_driver::IriBaseDriver
std::vector<CMvbluefox3::CMvbluefox3*> vcam_ptr; // Camera pointer.
- std::vector<CMvbluefox3::CParams> vparams; // Camera parameters.
-
- /**
- * \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);
+ bool ini_dynrec; // To control parameters initialization after device is found.
/**
* \brief Dynamic reconfigure to camera parameters
@@ -89,28 +75,17 @@ class Mvbluefox3CameraDriver : public iri_base_driver::IriBaseDriver
*
* Camera parameters to dynamic reconfigure.
*/
- iri_mvbluefox3_camera::Mvbluefox3CameraConfig ParamsToDynRec(CMvbluefox3::CParams ¶ms);
-
- /**
- * \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);
+ 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.
+ 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<CMvbluefox3::CParams> vparams; // Camera parameters.
+
+ bool initialize; // To control parameters initialization after device is found.
/**
* \brief define config type
@@ -215,6 +190,34 @@ class Mvbluefox3CameraDriver : public iri_base_driver::IriBaseDriver
*/
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
*
diff --git a/include/mvbluefox3_camera_driver_node.h b/include/mvbluefox3_camera_driver_node.h
index 7019523..d84d3be 100644
--- a/include/mvbluefox3_camera_driver_node.h
+++ b/include/mvbluefox3_camera_driver_node.h
@@ -33,9 +33,6 @@
// [publisher subscriber headers]
#include <camera_info_manager/camera_info_manager.h>
#include <image_transport/image_transport.h>
-// // Uncomment to use the openCV <-> ROS bridge
-// //#include <cv_bridge/cv_bridge.h>
-// #include <sensor_msgs/Image.h>
// [service client headers]
@@ -64,14 +61,19 @@ class Mvbluefox3CameraDriverNode : public iri_base_driver::IriBaseNodeDriver<Mvb
// [publisher attributes]
- // Uncomment to use the openCV <-> ROS bridge
- //cv_bridge::CvImagePtr cv_image_;
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]
diff --git a/launch/iri_mvbluefox3_camera.launch b/launch/iri_mvbluefox3_camera.launch
index e0f4b27..bc58d84 100644
--- a/launch/iri_mvbluefox3_camera.launch
+++ b/launch/iri_mvbluefox3_camera.launch
@@ -1,6 +1,7 @@
<!DOCTYPE html>
<launch>
+ <arg name="num_cams" default="1" />
<arg name="cam1_name" default="cam1" />
<arg name="cam2_name" default="cam2" />
@@ -9,26 +10,25 @@
type="iri_mvbluefox3_camera"
output="screen">
- <param name="num_cams" value="2"/>
+ <param name="num_cams" value="$(arg num_cams)"/>
<param name="cam1_name" value="$(arg cam1_name)"/>
- <param name="$(arg cam1_name)/serial" value="F0300141"/>
- <param name="$(arg cam1_name)/frame_id" value="mvBlueFOX3_camera"/>
- <param name="$(arg cam1_name)/tf_preix" value=""/>
- <param name="$(arg cam1_name)/calibration_file" value="$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml"/>
+ <param name="$(arg cam1_name)/calibration_file" value="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml"/>
<rosparam command="load" file="$(find iri_mvbluefox3_camera)/params/F0300141_params.yaml" />
<param name="cam2_name" value="$(arg cam2_name)"/>
- <param name="$(arg cam2_name)/serial" value="F0300123"/>
- <param name="$(arg cam2_name)/frame_id" value="mvBlueFOX3_camera"/>
- <param name="$(arg cam2_name)/tf_preix" value=""/>
- <param name="$(arg cam2_name)/calibration_file" value="$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml"/>
+ <param name="$(arg cam2_name)/calibration_file" value="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml"/>
+ <rosparam command="load" file="$(find iri_mvbluefox3_camera)/params/F0300123_params.yaml" />
</node>
-<!-- <node pkg="image_view"
- type="image_view"
- name="image_view" >
- <remap from="/image" to="/iri_mvbluefox3_camera/image_raw"/>
- </node>-->
+ <!-- ########## VISUALIZATION ##########-->
+ <node pkg="image_view" type="image_view" name="image_view_$(arg cam1_name)" >
+ <remap from="/image" to="/iri_mvbluefox3_camera/$(arg cam1_name)/image_raw"/>
+ </node>
+
+<!-- <node pkg="image_view" type="image_view" name="image_view_$(arg cam2_name)" >
+ <remap from="/image" to="/iri_mvbluefox3_camera/$(arg cam2_name)/image_raw"/>
+ </node>
+ -->
</launch>
diff --git a/params/F0300123_calib.yaml b/params/F0300123_calib.yaml
new file mode 100644
index 0000000..f233f44
--- /dev/null
+++ b/params/F0300123_calib.yaml
@@ -0,0 +1,21 @@
+image_width: 1280
+image_height: 960
+camera_name: camera
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [1280, 0, 960, 0, 1280, 960, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [0, 0, 0, 0, 0]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [1280, 0, 960, 0, 0, 1280, 960, 0, 0, 0, 1, 0]
+
\ No newline at end of file
diff --git a/params/F0300123_params.yaml b/params/F0300123_params.yaml
new file mode 100644
index 0000000..4751bd3
--- /dev/null
+++ b/params/F0300123_params.yaml
@@ -0,0 +1,45 @@
+cam2:
+ serial: F0300123
+ frame_id: mvbluefox3_F0300123
+ 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/F0300141_calib.yaml b/params/F0300141_calib.yaml
index af01efb..f233f44 100644
--- a/params/F0300141_calib.yaml
+++ b/params/F0300141_calib.yaml
@@ -1,6 +1,6 @@
image_width: 1280
image_height: 960
-camera_name: mvBlueFOX3_F0300141
+camera_name: camera
camera_matrix:
rows: 3
cols: 3
diff --git a/params/F0300141_params.yaml b/params/F0300141_params.yaml
index dbca35b..ebc49a6 100644
--- a/params/F0300141_params.yaml
+++ b/params/F0300141_params.yaml
@@ -1,43 +1,45 @@
-serial: F0300141
-frame_id: mvbluefox3_camera
+cam1:
+ serial: F0300141
+ frame_id: mvbluefox3_F0300141
+ tf_preix: ""
-#Image format
-pixel_format: mono8
-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
+ #Image format
+ pixel_format: 3 # 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/src/mvbluefox3_camera_driver.cpp b/src/mvbluefox3_camera_driver.cpp
index c80012b..5c57a20 100644
--- a/src/mvbluefox3_camera_driver.cpp
+++ b/src/mvbluefox3_camera_driver.cpp
@@ -3,6 +3,8 @@
Mvbluefox3CameraDriver::Mvbluefox3CameraDriver(void)
{
this->num_cams = 1;
+ this->initialize = true;
+ this->ini_dynrec = true;
}
Mvbluefox3CameraDriver::~Mvbluefox3CameraDriver(void)
@@ -34,7 +36,8 @@ bool Mvbluefox3CameraDriver::openDriver(void)
if (devMgr.getDeviceBySerial(this->vserial[ii]) == 0)
{
- std::cerr << "No device found! Unable to continue. " << std::endl;
+ std::cerr << this->vcam_name[ii] << " not found! Unable to continue. " << std::endl;
+ return true;
}
else
{
@@ -42,13 +45,25 @@ bool Mvbluefox3CameraDriver::openDriver(void)
}
}
else
- std::cerr << "Device cannot be found because serial number is not specified." << std::endl;
+ {
+ std::cerr << this->vcam_name[ii] << " not found because serial number is not specified!" << std::endl;
+ return true;
+ }
}
- std::cout << "[mvBlueFOX3]: All cameras opened successfully." << std::endl;
}catch (CMvbluefox3::CmvBlueFOX3Exception& e)
{
- std::cout << e.what() << std::endl;
+ 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->initialize)
+ {
+ for (int ii = 0; ii < this->num_cams; ++ii)
+ SetConfig(ii);
+ this->initialize = false;
+ }
return true;
}
@@ -58,11 +73,10 @@ bool Mvbluefox3CameraDriver::closeDriver(void)
{
for (int ii = 0; ii < this->num_cams; ++ii)
this->vcam_ptr[ii]->CloseDevice();
- // this->vcam_ptr->CloseDevice();
std::cout << "[mvBlueFOX3]: Driver closed." << std::endl;
}catch (CMvbluefox3::CmvBlueFOX3Exception& e)
{
- std::cout << e.what() << std::endl;
+ std::cerr << e.what() << std::endl;
}
return true;
}
@@ -81,19 +95,21 @@ void Mvbluefox3CameraDriver::config_update(Config& new_cfg, uint32_t level)
{
this->lock();
- // TODO:
-
- // depending on current state
- // update driver with new_cfg data
switch(this->getState())
{
case Mvbluefox3CameraDriver::CLOSED:
- // // Fill initial parameters
- for (int ii = 0; ii < this->num_cams; ++ii)
- this->vparams[ii] = DynRecToParams(new_cfg);
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)
{
@@ -105,7 +121,7 @@ void Mvbluefox3CameraDriver::config_update(Config& new_cfg, uint32_t level)
this->vparams[ii] = DynRecToParams(new_cfg);
SetConfig(ii);
GetConfig(ii);
- new_cfg = ParamsToDynRec(this->vparams[ii]);
+ new_cfg = ParamsToDynRec(ii,this->vparams[ii]);
}
}
new_cfg.apply_cfg = false;
@@ -164,10 +180,12 @@ CMvbluefox3::CParams Mvbluefox3CameraDriver::DynRecToParams(iri_mvbluefox3_camer
return p;
}
-iri_mvbluefox3_camera::Mvbluefox3CameraConfig Mvbluefox3CameraDriver::ParamsToDynRec(CMvbluefox3::CParams &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;
@@ -250,7 +268,7 @@ void Mvbluefox3CameraDriver::SetConfig(const int &ncam)
std::cout << "[mvBlueFOX3]: New configuration set for " << this->vcam_name[ncam] << "." << std::endl;
}catch (CMvbluefox3::CmvBlueFOX3Exception& e)
{
- std::cout << e.what() << std::endl;
+ std::cerr << e.what() << std::endl;
}
}
diff --git a/src/mvbluefox3_camera_driver_node.cpp b/src/mvbluefox3_camera_driver_node.cpp
index 5e14d86..1633def 100644
--- a/src/mvbluefox3_camera_driver_node.cpp
+++ b/src/mvbluefox3_camera_driver_node.cpp
@@ -2,7 +2,6 @@
Mvbluefox3CameraDriverNode::Mvbluefox3CameraDriverNode(ros::NodeHandle &nh) :
iri_base_driver::IriBaseNodeDriver<Mvbluefox3CameraDriver>(nh),
- // camera_manager(ros::NodeHandle("~image_raw")),
it(this->public_node_handle_)
{
//init class attributes if necessary
@@ -15,24 +14,28 @@ Mvbluefox3CameraDriverNode::Mvbluefox3CameraDriverNode(ros::NodeHandle &nh) :
// 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 ss;
ss << "cam" << ii+1 << "_name";
+ // get camera name
this->public_node_handle_.param<std::string>(ss.str(), this->driver_.vcam_name[ii], "cam1");
+ // 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;
std::string frame_id_name = this->driver_.vcam_name[ii] + "/frame_id";
std::string tf_prefix_name = this->driver_.vcam_name[ii] + "/tf_prefix";
@@ -42,21 +45,26 @@ Mvbluefox3CameraDriverNode::Mvbluefox3CameraDriverNode(ros::NodeHandle &nh) :
this->driver_.vframe_id[ii] = tf_prefix + "/" + frame_id;
this->public_node_handle_.param<std::string>(serial_name, this->driver_.vserial[ii], "");
- this->driver_.unlock();
-
+ // Get calibration file
std::string image_cal_file;
std::string image_cal_file_name = this->driver_.vcam_name[ii] + "/calibration_file";
public_node_handle_.param<std::string>(image_cal_file_name,image_cal_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_INFO("Invalid calibration file for CAM:%d",ii+1);
+ ROS_WARN("%s", err_msg.str().c_str());
}
else
- ROS_INFO("Invalid calibration file for CAM:%d",ii+1);
+ ROS_WARN("%s", err_msg.str().c_str());
+
+ // Get and Set camera parameters
+ SetParams(this->public_node_handle_, this->driver_.vcam_name[ii]);
}
+ this->driver_.unlock();
+
// [init subscribers]
// [init services]
@@ -68,6 +76,55 @@ Mvbluefox3CameraDriverNode::Mvbluefox3CameraDriverNode(ros::NodeHandle &nh) :
// [init action clients]
}
+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_.initialize = true;
+}
+
void Mvbluefox3CameraDriverNode::mainNodeThread(void)
{
// [fill msg Header if necessary]
--
GitLab