From b7108a2477cb03235c38e5fe336b960a9f18ca63 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Sun, 18 Dec 2016 18:49:08 +0100
Subject: [PATCH] First version with MV parameters working fine.
---
CMakeLists.txt | 8 +----
launch/iri_mvbluefox3_camera.launch | 10 +++---
package.xml | 5 ++-
params/F0300123_params.xml | 21 +++++------
params/F0300141_params.xml | 17 ++++-----
src/mvbluefox3_camera_driver.cpp | 56 ++++++++++++++---------------
6 files changed, 56 insertions(+), 61 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb9073c..873cba0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,11 +7,8 @@ find_package(catkin REQUIRED)
# Add catkin additional components here
# ********************************************************************
find_package(catkin REQUIRED COMPONENTS iri_base_driver sensor_msgs image_transport camera_info_manager)
-# find_package(catkin REQUIRED COMPONENTS iri_base_driver cv_bridge image_transport camera_info_manager sensor_msgs)
find_package(mvbluefox3 REQUIRED)
find_package(mvIMPACT REQUIRED)
-#find_package(OpenCV 3 REQUIRED)
-#find_package(OpenCV 2.4 REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
@@ -66,7 +63,7 @@ catkin_package(
# Add ROS and IRI ROS run time dependencies
# ********************************************************************
CATKIN_DEPENDS iri_base_driver sensor_msgs image_transport camera_info_manager
- # CATKIN_DEPENDS iri_base_driver cv_bridge image_transport camera_info_manager sensor_msgs
+
# ********************************************************************
# Add system and labrobotica run time dependencies here
# ********************************************************************
@@ -87,7 +84,6 @@ include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${mvbluefox3_INCLUDE_DIR})
include_directories(${mvIMPACT_INCLUDE_DIR})
-# include_directories(${OpenCV_INCLUDE_DIRS})
# include_directories(${<dependency>_INCLUDE_DIR})
## Declare a cpp library
@@ -102,8 +98,6 @@ add_executable(${PROJECT_NAME} src/mvbluefox3_camera_driver.cpp src/mvbluefox3_c
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${mvbluefox3_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${mvIMPACT_LIBRARY})
-# target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
-# TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS})
# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
# ********************************************************************
diff --git a/launch/iri_mvbluefox3_camera.launch b/launch/iri_mvbluefox3_camera.launch
index edb0450..1ba4f84 100644
--- a/launch/iri_mvbluefox3_camera.launch
+++ b/launch/iri_mvbluefox3_camera.launch
@@ -1,20 +1,20 @@
<!--DOCTYPE html-->
<launch>
- <arg name="num_cams" default="1" />
+ <arg name="num_cams" default="2" />
<arg name="c1_name" default="cam1" />
<arg name="c1_serial" default="F0300141" />
<arg name="c1_frame_id" default="$(arg c1_name)" />
<arg name="c1_tf_prefix" default="" />
- <arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300141.xml" />
+ <arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300141_params.xml" />
<arg name="c1_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml" />
<arg name="c2_name" default="cam2" />
<arg name="c2_serial" default="F0300123" />
<arg name="c2_frame_id" default="$(arg c2_name)" />
<arg name="c2_tf_prefix" default="" />
- <arg name="c2_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300123.xml" />
+ <arg name="c2_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300123_params.xml" />
<arg name="c2_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml" />
<node pkg="iri_mvbluefox3_camera"
@@ -46,8 +46,8 @@
<remap from="/image" to="/iri_mvbluefox3_camera/$(arg c1_name)/image_raw"/>
</node>
-<!-- <node pkg="image_view" type="image_view" name="image_view_$(arg c2_name)" >
+ <node pkg="image_view" type="image_view" name="image_view_$(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 236b83f..16ec69f 100644
--- a/package.xml
+++ b/package.xml
@@ -7,7 +7,7 @@
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="asantamaria@todo.todo">asantamaria</maintainer>
+ <maintainer email="asantamaria@iri.upc.edu">asantamaria</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
@@ -41,12 +41,11 @@
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>iri_base_driver</build_depend>
- <!-- <build_depend>cv_bridge</build_depend> -->
<build_depend>image_transport</build_depend>
<build_depend>camera_info_manager</build_depend>
<build_depend>sensor_msgs</build_depend>
+
<run_depend>iri_base_driver</run_depend>
- <!-- <run_depend>cv_bridge</run_depend> -->
<run_depend>image_transport</run_depend>
<run_depend>camera_info_manager</run_depend>
<run_depend>sensor_msgs</run_depend>
diff --git a/params/F0300123_params.xml b/params/F0300123_params.xml
index dee7488..b75af7e 100644
--- a/params/F0300123_params.xml
+++ b/params/F0300123_params.xml
@@ -22,7 +22,7 @@ Width 1280
Height 960
OffsetX 0
OffsetY 0
-PixelFormat Auto
+PixelFormat BayerGR8
TestPattern Off
BinningHorizontal 1
DecimationHorizontal 1
@@ -31,10 +31,10 @@ ReverseX 0
ReverseY 0
AcquisitionMode Continuous
ExposureMode Timed
-ExposureTime 32132
+ExposureTime 23399
ExposureAuto Continuous
mvExposureAutoLowerLimit 74
-mvExposureAutoUpperLimit 32759
+mvExposureAutoUpperLimit 23399
mvExposureAutoAverageGrey 50
mvExposureAutoHighlightAOI Off
mvExposureAutoAOIMode mvFull
@@ -100,8 +100,9 @@ TriggerSelector FrameBurstActive
TriggerDelay 0
TriggerSelector FrameStart
mvAcquisitionFrameRateLimitMode mvDeviceLinkThroughput
-AcquisitionFrameRateEnable 0
-mvAcquisitionFrameRateEnable Off
+AcquisitionFrameRateEnable 1
+mvAcquisitionFrameRateEnable On
+AcquisitionFrameRate 25.3
AcquisitionFrameCount 1
mvAcquisitionMemoryMode Default
CounterSelector Counter1
@@ -165,12 +166,12 @@ TimerSelector Timer2
TimerDelay 0
TimerSelector Timer1
TimerSelector Timer1
-TimerValue 17046
+TimerValue 16407
TimerSelector Timer2
-TimerValue 7981
+TimerValue 14452
TimerSelector Timer1
GainSelector AnalogAll
-Gain 0
+Gain 6.209
GainSelector DigitalAll
Gain 0
GainSelector AnalogAll
@@ -202,9 +203,9 @@ BlackLevelSelector All
BlackLevelAuto Continuous
BlackLevelSelector DigitalAll
BalanceRatioSelector Red
-BalanceRatio 1.41268
+BalanceRatio 0.800271
BalanceRatioSelector Blue
-BalanceRatio 1.96385
+BalanceRatio 3.30967
BalanceRatioSelector Blue
BalanceWhiteAuto Continuous
mvBalanceWhiteAutoAOIMode mvFull
diff --git a/params/F0300141_params.xml b/params/F0300141_params.xml
index 09a53d8..c8f8f0d 100644
--- a/params/F0300141_params.xml
+++ b/params/F0300141_params.xml
@@ -31,7 +31,7 @@ ReverseX 0
ReverseY 0
AcquisitionMode Continuous
ExposureMode Timed
-ExposureTime 6117
+ExposureTime 23399
ExposureAuto Continuous
mvExposureAutoLowerLimit 74
mvExposureAutoUpperLimit 23399
@@ -100,8 +100,9 @@ TriggerSelector FrameBurstActive
TriggerDelay 0
TriggerSelector FrameStart
mvAcquisitionFrameRateLimitMode mvDeviceLinkThroughput
-AcquisitionFrameRateEnable 0
-mvAcquisitionFrameRateEnable Off
+AcquisitionFrameRateEnable 1
+mvAcquisitionFrameRateEnable On
+AcquisitionFrameRate 25.3
AcquisitionFrameCount 1
mvAcquisitionMemoryMode Default
CounterSelector Counter1
@@ -165,12 +166,12 @@ TimerSelector Timer2
TimerDelay 0
TimerSelector Timer1
TimerSelector Timer1
-TimerValue 4047
+TimerValue 17376
TimerSelector Timer2
-TimerValue 11839
+TimerValue 15776
TimerSelector Timer1
GainSelector AnalogAll
-Gain 0
+Gain 6.209
GainSelector DigitalAll
Gain 0
GainSelector AnalogAll
@@ -202,9 +203,9 @@ BlackLevelSelector All
BlackLevelAuto Continuous
BlackLevelSelector DigitalAll
BalanceRatioSelector Red
-BalanceRatio 0.968241
+BalanceRatio 0.800271
BalanceRatioSelector Blue
-BalanceRatio 2.28045
+BalanceRatio 3.30967
BalanceRatioSelector Blue
BalanceWhiteAuto Continuous
mvBalanceWhiteAutoAOIMode mvFull
diff --git a/src/mvbluefox3_camera_driver.cpp b/src/mvbluefox3_camera_driver.cpp
index 67c2a2b..b79f8a2 100644
--- a/src/mvbluefox3_camera_driver.cpp
+++ b/src/mvbluefox3_camera_driver.cpp
@@ -285,7 +285,7 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
char *image = NULL;
this->vcam_ptr[ncam]->GetImage(&image);
GetConfig(ncam);
-
+
std::string encoding;
encoding = CMvbluefox3::codings_str[this->vparams[ncam].pixel_format];
@@ -296,15 +296,33 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
switch (this->vparams[ncam].pixel_format)
{
case CMvbluefox3::raw:
- // switch (depth*bp)
- // {
- // case 8: encoding = "8UC1"; break;
- // case 16: encoding = "8UC2"; break;
- // case 24: encoding = "8UC3"; break;
- // case 32: encoding = "8UC4"; break;
- // default: ROS_WARN("Invalid depth. Depth not implemented for sensor_msgs."); break;
- // }
- encoding = "rgb8";
+
+ if (depth/8 == 1)
+ {
+ encoding = "8UC1";
+ switch (bp)
+ {
+ case 1: encoding = "8UC1"; break;
+ case 2: encoding = "8UC2"; break;
+ case 3: encoding = "8UC3"; break;
+ case 4: encoding = "8UC4"; break;
+ default: ROS_WARN("Invalid depth. Depth not implemented here."); break;
+ }
+ }
+ else if (depth/8 == 2)
+ {
+ encoding = "16UC1";
+ switch (bp)
+ {
+ case 1: encoding = "16UC1"; break;
+ 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;
@@ -337,24 +355,6 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
if (!ROSvalid)
ROS_WARN("mvBlueFOX3 pixel format %s no valid within ROS messages.",encoding.c_str());
- // else if(config.coding==RAW)
- // {
- // this->camera.Image_msg_->encoding=this->driver_.get_bayer_pattern();
- // }
-
- // else
- // {
- // if(config.depth==DEPTH24)
- // this->camera.Image_msg_->encoding="rgb8";
- // else if(config.depth==DEPTH48)
- // this->camera.Image_msg_->encoding="16UC3";
- // else
- // this->camera.Image_msg_->encoding="16UC3";
- // }
- // }
- // //
-
-
sensor_msgs::fillImage(img_msg,
encoding,
this->vparams[ncam].height,
--
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