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Adding setting for gain, fixing vector size print warning, renaming N…
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…ode value functions
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@vik748
vik748 committed Feb 4, 2021
1 parent 040e77a commit 2b6cfe8
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Showing 6 changed files with 105 additions and 48 deletions.
3 changes: 2 additions & 1 deletion include/spinnaker_sdk_camera_driver/camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,8 @@ namespace acquisition {
// void setTrigMode();
// void setTriggerOverlapOff();

string get_node_value(string node_string);
string getTLNodeStringValue(string node_string);
double getFloatValueMax(string node_string);
string get_id();
void make_master() { MASTER_ = true; ROS_DEBUG_STREAM( "camera " << get_id() << " set as master"); }
bool is_master() { return MASTER_; }
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1 change: 1 addition & 0 deletions include/spinnaker_sdk_camera_driver/capture.h
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@ namespace acquisition {
string dump_img_;
string ext_;
float exposure_time_;
float gain_;
double target_grey_value_;
bool first_image_received;
// int decimation_;
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45 changes: 26 additions & 19 deletions launch/acquisition.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,23 +3,29 @@
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>

<!-- acquisition spinnaker params-->
<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
<arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
<arg name="external_trigger" default="false" doc="External trigger (No camera is master)"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
<arg name="live" default="false" doc="Show images on screen GUI"/>
<arg name="live_grid" default="false" doc="Show images on screen GUI in a grid"/>
<arg name="output" default="screen" doc="display output to screen or log file"/>
<arg name="save" default="false" doc="flag whether images should be saved or not"/>
<arg name="save_path" default="~" doc="location to save the image data"/>
<arg name="save_type" default="bmp" doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
<arg name="soft_framerate" default="30" doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
<arg name="time" default="false" doc="Show time/FPS on output"/>
<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="max_rate_save" default="false" doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />
<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
<arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
<arg name="external_trigger" default="false" doc="External trigger (No camera is master)"/>
<arg name="gain" default="0" doc="Gain setting. Gain should be positive (full range - 0 - 18 dB for blackfly-s camera)
or zero (auto gain). if gain > max, it will be set to max allowed value.
Default is 0, auto gain which is set according to target grey value or autoexposure settings"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4,
AutoExposureTargetGreyValueAuto will be set to continuous(auto)
also available as dynamic reconfigurable parameter.
This parameter has no meaning when auto exposure and auto gain are off" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
<arg name="live" default="false" doc="Show images on screen GUI"/>
<arg name="live_grid" default="false" doc="Show images on screen GUI in a grid"/>
<arg name="output" default="screen" doc="display output to screen or log file"/>
<arg name="save" default="false" doc="flag whether images should be saved or not"/>
<arg name="save_path" default="~" doc="location to save the image data"/>
<arg name="save_type" default="bmp" doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
<arg name="soft_framerate" default="30" doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
<arg name="time" default="false" doc="Show time/FPS on output"/>
<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="max_rate_save" default="false" doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />


<!-- nodelet manager params-->
Expand All @@ -29,7 +35,7 @@

<!-- Capture nodelet params-->
<arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>

<!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" unless="$(arg external_manager)" />
Expand All @@ -38,12 +44,13 @@
<node pkg="nodelet" type="nodelet" name="acquisition_node"
args="load acquisition/Capture $(arg manager)" >
<!-- load the acquisition node parameters file. Note any parameters provided in this file will
override what is in the yaml file. Thus use it to set parameters camer_array configuration params -->
override what is in the yaml file. Thus use it to set parameters camer_array configuration params -->
<rosparam command="load" file="$(arg config_file)" />

<!-- Load parameters onto server using argument or default values above -->
<param name="exposure_time" value="$(arg exposure_time)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="gain" value="$(arg gain)"/>
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
<param name="color" value="$(arg color)" />
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49 changes: 28 additions & 21 deletions launch/acquisition_external_trigger.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,23 +3,29 @@
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>

<!-- acquisition spinnaker params-->
<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
<arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
<arg name="external_trigger" default="true" doc="External trigger (No camera is master)"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
<arg name="live" default="false" doc="Show images on screen GUI"/>
<arg name="live_grid" default="false" doc="Show images on screen GUI in a grid"/>
<arg name="output" default="screen" doc="display output to screen or log file"/>
<arg name="save" default="false" doc="flag whether images should be saved or not"/>
<arg name="save_path" default="/media/jagatpreet/Data/datasets/vio_rosbags/vio_rig/dummy" doc="location to save the image data"/>
<arg name="save_type" default="bmp" doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
<arg name="soft_framerate" default="30" doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
<arg name="time" default="false" doc="Show time/FPS on output"/>
<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="max_rate_save" default="false" doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />
<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
<arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
<arg name="external_trigger" default="true" doc="External trigger (No camera is master)"/>
<arg name="gain" default="0" doc="Gain setting. Gain should be positive (full range - 0 - 18 dB for blackfly-s camera)
or zero (auto gain). if gain > max, it will be set to max allowed value.
Default is 0, auto gain which is set according to target grey value or autoexposure settings"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4,
AutoExposureTargetGreyValueAuto will be set to continuous(auto)
also available as dynamic reconfigurable parameter.
This parameter has no meaning when auto exposure and auto gain are off" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
<arg name="live" default="false" doc="Show images on screen GUI"/>
<arg name="live_grid" default="false" doc="Show images on screen GUI in a grid"/>
<arg name="output" default="screen" doc="display output to screen or log file"/>
<arg name="save" default="false" doc="flag whether images should be saved or not"/>
<arg name="save_path" default="~" doc="location to save the image data"/>
<arg name="save_type" default="bmp" doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
<arg name="soft_framerate" default="30" doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
<arg name="time" default="false" doc="Show time/FPS on output"/>
<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="max_rate_save" default="false" doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />


<!-- nodelet manager params-->
Expand All @@ -29,21 +35,22 @@

<!-- Capture nodelet params-->
<arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/external_trigger_params.yaml" doc="File specifying the parameters of the camera_array"/>
<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/external_trigger_params.yaml" doc="File specifying the parameters of the camera_array"/>

<!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
<!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" unless="$(arg external_manager)" />

<!-- load the acquisition nodelet -->
<node pkg="nodelet" type="nodelet" name="acquisition_node"
args="load acquisition/Capture $(arg manager)" >
<!-- load the acquisition node parameters file. Note any parameters provided in this file will
override what is in the yaml file. Thus use it to set parameters camer_array configuration params -->
override what is in the yaml file. Thus use it to set parameters camer_array configuration params -->
<rosparam command="load" file="$(arg config_file)" />

<!-- Load parameters onto server using argument or default values above -->
<param name="exposure_time" value="$(arg exposure_time)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="gain" value="$(arg gain)"/>
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
<param name="color" value="$(arg color)" />
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23 changes: 20 additions & 3 deletions src/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -306,17 +306,34 @@ void acquisition::Camera::trigger() {

}

string acquisition::Camera::get_node_value(string node_string) {
double acquisition::Camera::getFloatValueMax(string node_string) {
INodeMap& nodeMap = pCam_->GetNodeMap();

CFloatPtr ptrNodeValue = nodeMap.GetNode(node_string.c_str());

if (IsAvailable(ptrNodeValue)){
//cout << "\tMax " << ptrNodeValue->GetValue() << "..." << endl;
return ptrNodeValue->GetMax();
} else {
ROS_FATAL_STREAM("Node " << node_string << " not available" << endl);
return -1;
}
}


string acquisition::Camera::getTLNodeStringValue(string node_string) {
INodeMap& nodeMap = pCam_->GetTLDeviceNodeMap();
CStringPtr ptrNodeValue = nodeMap.GetNode(node_string.c_str());
if (IsReadable(ptrNodeValue)){
return string(ptrNodeValue->GetValue());
} else{
ROS_FATAL_STREAM("Node " << node_string << " not readable" << endl);
return "";
}
return "";
}

string acquisition::Camera::get_id() {
return get_node_value("DeviceSerialNumber");
return getTLNodeStringValue("DeviceSerialNumber");
}

void acquisition::Camera::targetGreyValueTest() {
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32 changes: 28 additions & 4 deletions src/capture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ void acquisition::Capture::init_variables_register_to_ros() {
// default values for the parameters are set here. Should be removed eventually!!
exposure_time_ = 0 ; // default as 0 = auto exposure
soft_framerate_ = 20; //default soft framrate
gain_ = 0;
ext_ = ".bmp";
SOFT_FRAME_RATE_CTRL_ = false;
LIVE_ = false;
Expand Down Expand Up @@ -187,8 +188,8 @@ void acquisition::Capture::load_cameras() {
for (int i=0; i<numCameras_; i++) {
acquisition::Camera cam(camList_.GetByIndex(i));
ROS_INFO_STREAM(" -"<< cam.get_id()
<<" "<< cam.get_node_value("DeviceModelName")
<<" "<< cam.get_node_value("DeviceVersion") );
<<" "<< cam.getTLNodeStringValue("DeviceModelName")
<<" "<< cam.getTLNodeStringValue("DeviceVersion") );
}

bool master_set = false;
Expand Down Expand Up @@ -474,6 +475,14 @@ void acquisition::Capture::read_parameters() {
else ROS_INFO(" 'exposure_time'=%0.f, Setting autoexposure",exposure_time_);
} else ROS_WARN(" 'exposure_time' Parameter not set, using default behavior: Automatic Exposure ");

if(nh_pvt_.getParam("gain", gain_)){
if(gain_>0){
ROS_INFO("gain value set to:%.1f",gain_);
}
else ROS_INFO(" 'gain' Parameter was zero or negative, using Auto gain based on target grey value");
}
else ROS_WARN(" 'gain' Parameter not set, using default behavior: Auto gain based on target grey value");

if (nh_pvt_.getParam("target_grey_value", target_grey_value_)){
if (target_grey_value_ >0) ROS_INFO(" target_grey_value set to: %.1f",target_grey_value_);
else ROS_INFO(" 'target_grey_value'=%0.f, Setting AutoExposureTargetGreyValueAuto to Continuous/ auto",target_grey_value_);}
Expand Down Expand Up @@ -694,6 +703,21 @@ void acquisition::Capture::init_cameras(bool soft = false) {
} else {
cams[i].setEnumValue("ExposureAuto", "Continuous");
}

if(gain_>0){ //fixed gain
cams[i].setEnumValue("GainAuto", "Off");
double max_gain_allowed = cams[i].getFloatValueMax("Gain");
if (gain_ <= max_gain_allowed)
cams[i].setFloatValue("Gain", gain_);
else {
cams[i].setFloatValue("Gain", max_gain_allowed);
ROS_WARN("Provided Gain value is higher than max allowed, setting gain to %f", max_gain_allowed);
}
target_grey_value_ = 50;
} else {
cams[i].setEnumValue("GainAuto","Continuous");
}

if (target_grey_value_ > 4.0) {
cams[i].setEnumValue("AutoExposureTargetGreyValueAuto", "Off");
cams[i].setFloatValue("AutoExposureTargetGreyValue", target_grey_value_);
Expand All @@ -706,7 +730,7 @@ void acquisition::Capture::init_cameras(bool soft = false) {
// cams[i].setFloatValue("AcquisitionFrameRate", 5.0);

if (color_)
cams[i].setEnumValue("PixelFormat", "BGR8");
cams[i].setEnumValue("PixelFormat", "BGR8");
else
cams[i].setEnumValue("PixelFormat", "Mono8");
cams[i].setEnumValue("AcquisitionMode", "Continuous");
Expand Down Expand Up @@ -1230,7 +1254,7 @@ void acquisition::Capture::write_queue_to_disk(queue<ImagePtr>* img_q, int cam_n
convertedImage->Save(filename.str().c_str());
// release the image before popping out to save memory
convertedImage->Release();
ROS_INFO("image Queue size for cam %d is = %d",cam_no,img_q->size());
ROS_INFO("image Queue size for cam %d is = %zu",cam_no, img_q->size());
queue_mutex_.lock();
img_q->pop();
queue_mutex_.unlock();
Expand Down

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