merge image_transport_test branch

CMakeLists.txt

@@ -33,7 +33,15 @@ find_package(catkin REQUIRED COMPONENTS
 ###
 # Find Packages
 find_package(OpenCV REQUIRED)
-find_package(LibUnwind REQUIRED)
+# use LibUnwind only for x86_64 or x86_32 architecture
+# do not use LibUnwind for arm architecture
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
+  message("uses LibUnwind for x86_64 or x86_32 architecture")
+  find_package(LibUnwind REQUIRED)
+endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm)
+  message("Detected ARM architecture")
+endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm)
 
 find_package(Boost REQUIRED)
 if(Boost_FOUND)
@@ -57,25 +65,48 @@ generate_messages(
   DEPENDENCIES
   std_msgs
 )
-
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp std_msgs message_runtime nodelet
-  DEPENDS OpenCV LibUnwind
-)
-
-include_directories(
-  ${PROJECT_INCLUDE_DIR}
-  ${catkin_INCLUDE_DIRS}
-  ${SPINNAKER_INCLUDE_DIR}
-  ${OpenCV_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIR}
-  ${LibUnwind_INCLUDE_DIRS}
-)
-
-link_directories( ${SPINNAKER_LIB_DIR} )
-
-set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+## setting catkin_package, include_directories and libs based on architecture
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
+    catkin_package(
+    INCLUDE_DIRS include
+    CATKIN_DEPENDS roscpp std_msgs message_runtime nodelet
+    DEPENDS OpenCV LibUnwind
+    )
+
+    include_directories(
+      ${PROJECT_INCLUDE_DIR}
+      ${catkin_INCLUDE_DIRS}
+      ${SPINNAKER_INCLUDE_DIR}
+      ${OpenCV_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIR}
+      ${LibUnwind_INCLUDE_DIRS}
+    )
+
+    link_directories( ${SPINNAKER_LIB_DIR} )
+
+    set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+
+endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm)
+    catkin_package(
+    INCLUDE_DIRS include
+    CATKIN_DEPENDS roscpp std_msgs message_runtime nodelet
+    DEPENDS OpenCV
+    )
+
+    include_directories(
+      ${PROJECT_INCLUDE_DIR}
+      ${catkin_INCLUDE_DIRS}
+      ${SPINNAKER_INCLUDE_DIR}
+      ${OpenCV_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIR}
+    )
+
+    link_directories( ${SPINNAKER_LIB_DIR} )
+
+    set (LIBS Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+
+endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm)
 
 add_library (acquilib SHARED
   src/capture.cpp

cfg/spinnaker_cam.cfg

@@ -7,7 +7,7 @@ gen = ParameterGenerator()
 
 
 gen.add("target_grey_val", double_t, 1, "Set Target Grey Value", 50, 4, 90)
-gen.add("exposure_time", int_t, 3, "Set Exposure time (0:auto)", 0, 0, 15000)
+gen.add("exposure_time", int_t, 2, "Set Exposure time (0:auto)", 0, 0, 15000)
 
 
 exit(gen.generate(PACKAGE, "spinnaker_sdk_camera_driver", "spinnaker_cam"))

include/spinnaker_sdk_camera_driver/capture.h

@@ -137,11 +137,12 @@ namespace acquisition {
 
         ros::Publisher acquisition_pub;
         //vector<ros::Publisher> camera_image_pubs;
-        vector<image_transport::Publisher> camera_image_pubs;
-        vector<ros::Publisher> camera_info_pubs;
+        vector<image_transport::CameraPublisher> camera_image_pubs;
+        //vector<ros::Publisher> camera_info_pubs;
+
 
         vector<sensor_msgs::ImagePtr> img_msgs;
-        vector<sensor_msgs::CameraInfo> cam_info_msgs;
+        vector<sensor_msgs::CameraInfoPtr> cam_info_msgs;
         spinnaker_sdk_camera_driver::SpinnakerImageNames mesg;
         boost::mutex queue_mutex_;  
     };

launch/acquisition.launch

@@ -2,7 +2,8 @@
   <!-- configure console output verbosity mode:debug_console.conf or std_console.conf -->
   <env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>
 
-  <!-- acquisition.lauynch -->
+  <!-- acquisition.launch -->
+
   <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="exp"               default="0"	doc="Exposure setting for cameras"/>
@@ -21,11 +22,10 @@
   <arg name="config_file"       default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
 
   <!-- load the acquisition node -->
-  <node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)"
-	args="">
+  <node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)" args="" respawn="false" >
 
     <!-- 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 -->

launch/acquisition_nodelet.launch

@@ -13,7 +13,7 @@
   <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="50"	doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
+  <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" />

params/cam_17197558.yaml

@@ -0,0 +1,28 @@
+cam_ids:
+- 17197558
+cam_aliases:
+- cam0
+master_cam: 17197558
+skip: 5
+delay: 0
+
+#Camera info message details
+distortion_model: plumb_bob
+distortion_coeffs:
+    - [-0.22001, 0.16693, 0.00261, -0.00099, 0.00000]
+    #- [-0.17465, 0.03501, 0.00064, -0.00036]
+#specified as [fx  0 cx 0 fy cy 0  0  1]
+intrinsic_coeffs:
+    - [1278.71483, 0.0, 623.08283, 0.0, 1284.06247, 515.71835, 0.0, 0.0, 1.0]
+    #- [638.71023, 0.0, 315.25919, 0.0, 641.21041, 248.26077, 0.0, 0.0, 1.0]
+
+# Assign all the follwing via launch file to prevent confusion and conflict
+
+#save_path: ~/projects/data
+#save_type: .bmp #binary or .tiff or .bmp
+#binning: 1 # going from 2 to 1 requires cameras to be unplugged and replugged
+color: false
+#frames: 50
+#soft_framerate: 4 # this frame rate reflects to the software frame rate set using ros::rate
+#exp: 997
+#to_ros: true  #When to_ros is not selected, but live is selected, pressing 'space' exports single image to ROS

params/test_params.yaml

@@ -40,4 +40,3 @@ rectification_coeffs:
 projection_coeffs:
 - [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
 - [703.910323, 0.000000, 815.113302, 0.000000, 0.000000, 958.319231, 636.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
-

src/camera.cpp

@@ -40,8 +40,8 @@ void acquisition::Camera::deinit() {
 ImagePtr acquisition::Camera::grab_frame() {
 
     ImagePtr pResultImage = pCam_->GetNextImage(GET_NEXT_IMAGE_TIMEOUT_);
-
     // Check if the Image is complete
+
     if (pResultImage->IsIncomplete()) {
 
         ROS_WARN_STREAM("Image incomplete with image status " << pResultImage->GetImageStatus() << "!");
@@ -60,11 +60,9 @@ ImagePtr acquisition::Camera::grab_frame() {
         }
 
     }
-    
+
     ROS_DEBUG_STREAM("Grabbed frame from camera " << get_id() << " with timestamp " << timestamp_*1000);
-
-    return pResultImage;
-
+    return pResultImage;    
 }
 
 // Returns last timestamp
@@ -96,19 +94,16 @@ Mat acquisition::Camera::convert_to_mat(ImagePtr pImage) {
         convertedImage = pImage->Convert(PixelFormat_BGR8); //, NEAREST_NEIGHBOR);
     else
 		convertedImage = pImage->Convert(PixelFormat_Mono8); //, NEAREST_NEIGHBOR);
-
     unsigned int XPadding = convertedImage->GetXPadding();
     unsigned int YPadding = convertedImage->GetYPadding();
     unsigned int rowsize = convertedImage->GetWidth();
     unsigned int colsize = convertedImage->GetHeight();
-
     //image data contains padding. When allocating Mat container size, you need to account for the X,Y image data padding.
     Mat img;
     if (COLOR_)
         img = Mat(colsize + YPadding, rowsize + XPadding, CV_8UC3, convertedImage->GetData(), convertedImage->GetStride());
     else
         img = Mat(colsize + YPadding, rowsize + XPadding, CV_8UC1, convertedImage->GetData(), convertedImage->GetStride());
-
     return img.clone();
     // return img;
 
@@ -323,4 +318,4 @@ void acquisition::Camera::exposureTest() {
     float expTime=ptrExpTest->GetValue();
     ROS_DEBUG_STREAM("Exposure Time: "<<expTime<<endl);
 
-}
+}