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use when external trigger has no sync trigger msgs with ts and trigger_msgs are compiled on system #149

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use when external trigger has no sync trigger msgs with ts and trigger_msgs are compiled on system #149

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e0bc0af
uav cams with gpsd trig without sync msgs
mithundiddi May 16, 2022
383cc7f
add use_imu_ts flag to all launch files
mithundiddi May 17, 2022
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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 @@ -131,6 +131,7 @@ namespace acquisition {
bool TIME_BENCHMARK_;
bool MASTER_TIMESTAMP_FOR_ALL_;
bool EXTERNAL_TRIGGER_;
bool USE_IMU_TS_EXTERNAL_TRIGGER_;
bool SAVE_;
bool SAVE_BIN_;
bool MANUAL_TRIGGER_;
Expand Down
14 changes: 8 additions & 6 deletions launch/acquisition.launch
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Expand Up @@ -6,7 +6,9 @@
<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="external_trigger" default="true" doc="External trigger (No camera is master)"/>
<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="use_imu_ts" default="false" doc="If Trigger_msgs are present and if you dont have a timestamp info for triggering "/>
<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"/>
Expand All @@ -21,10 +23,9 @@
<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="soft_framerate" default="10" 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" />


Expand All @@ -35,7 +36,7 @@

<!-- 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/calibration_files/stereo_17197554_17197553.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="$(arg external_manager)" />
Expand All @@ -50,6 +51,8 @@
<!-- Load parameters onto server using argument or default values above -->
<param name="exposure_time" value="$(arg exposure_time)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="utstamps" value="$(arg utstamps)" />
<param name="use_imu_ts" value="$(arg use_imu_ts)" />
<param name="gain" value="$(arg gain)"/>
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
Expand All @@ -62,11 +65,10 @@
<param name="save_path" value="$(arg save_path)" />
<param name="soft_framerate" value="$(arg soft_framerate)" />
<param name="time" value="$(arg time)" />
<param name="utstamps" value="$(arg utstamps)" />
<param name="to_ros" value="$(arg to_ros)"/>
<param name="max_rate_save" value="$(arg max_rate_save)" />
<param name="tf_prefix" value="$(arg tf_prefix)" />

</node>

</launch>
</launch>
6 changes: 4 additions & 2 deletions launch/acquisition_external_trigger.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<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="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all"/>
<arg name="use_imu_ts" default="true" doc="If Trigger_msgs are present and if you dont have a timestamp info for triggering "/>
<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.
Expand All @@ -24,7 +26,6 @@
<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" />


Expand All @@ -50,6 +51,8 @@
<!-- 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="utstamps" value="$(arg utstamps)" />
<param name="use_imu_ts" value="$(arg use_imu_ts)" />
<param name="gain" value="$(arg gain)"/>
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
Expand All @@ -62,7 +65,6 @@
<param name="save_path" value="$(arg save_path)" />
<param name="soft_framerate" value="$(arg soft_framerate)" />
<param name="time" value="$(arg time)" />
<param name="utstamps" value="$(arg utstamps)" />
<param name="to_ros" value="$(arg to_ros)"/>
<param name="max_rate_save" value="$(arg max_rate_save)" />
<param name="tf_prefix" value="$(arg tf_prefix)" />
Expand Down
6 changes: 4 additions & 2 deletions launch/node_acquisition.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@
<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="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
<arg name="use_imu_ts" default="true" doc="If Trigger_msgs are present and if you dont have a timestamp info for triggering "/>
<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"/>
Expand All @@ -19,7 +21,6 @@
<arg name="soft_framerate" default="20" 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" />

<!-- acquisiton node params-->
Expand All @@ -37,6 +38,8 @@
<!-- 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="utstamps" value="$(arg utstamps)" />
<param name="use_imu_ts" value="$(arg use_imu_ts)" />
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
<param name="color" value="$(arg color)" />
Expand All @@ -48,7 +51,6 @@
<param name="save_path" value="$(arg save_path)" />
<param name="soft_framerate" value="$(arg soft_framerate)" />
<param name="time" value="$(arg time)" />
<param name="utstamps" value="$(arg utstamps)" />
<param name="to_ros" value="$(arg to_ros)"/>
<param name="max_rate_save" value="$(arg max_rate_save)"/>
<param name="tf_prefix" value="$(arg tf_prefix)" />
Expand Down
41 changes: 41 additions & 0 deletions params/calibration_files/stereo_17197554_17197553.yaml
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@@ -0,0 +1,41 @@
cam_ids:
- 17197553
- 17197554
cam_aliases:
- cam0
- cam1

#master_cam: 17197553
skip: 20
delay: 1.0

#Camera info message details
distortion_model: plumb_bob
image_height: 1024
image_width: 1280

distortion_coeffs:
- [-0.20450164833719758, 0.14743367885666747, 1.3691017237135784e-05, -0.00029960779673081914]
- [-0.19543806353197976, 0.12250750911745852, -0.0008848056641066484, -0.0021017501699217554]


#specified as [fx 0 cx 0 fy cy 0 0 1]
intrinsic_coeffs:
- [1275.5155246873633, 0.0, 656.6967116430126, 0.0, 1276.6709737523597, 506.5433446279619, 0.0, 0.0, 1.0]
- [1252.4067462338985, 0.0, 629.4308621564376, 0.0, 1250.9809134660086, 513.5942922153134, 0.0, 0.0, 1.0]

rectification_coeffs:
- [0.9665822150177287, 0.0568881655489388, 0.24996511402973415, -0.056811130425504716, 0.9983565526264057, -0.007529228891154418, -0.2499826335392076, -0.006923181955981874, 0.9682255690077631]
- [0.9627203218217302, 0.03938618350914482, 0.26761597579376367, -0.039468734667831934, 0.9992079277965503, -0.005073067340799848, -0.2676038133793774, -0.005678518918518859, 0.96351230064162]

projection_coeffs:
- [1445.214023875022, 0.0, 193.84015655517578, 0.0, 0.0, 1445.214023875022, 520.7913436889648, 0.0, 0.0, 0.0, 1.0, 0.0]
- [1445.214023875022, 0.0, 193.84015655517578, 296.6206626773398, 0.0, 1445.214023875022, 520.7913436889648, 0.0, 0.0, 0.0, 1.0, 0.0]

flip_horizontal:
- false
- false

flip_vertical:
- false
- false
40 changes: 40 additions & 0 deletions params/calibration_files/stereo_17197555_17197558.yaml
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cam_ids:
- 17197555
- 17197558
cam_aliases:
- cam0
- cam1

#master_cam: 17197555
skip: 20
delay: 1.0

#Camera info message details
distortion_model: plumb_bob
image_height: 1024
image_width: 1280

distortion_coeffs:
- [-0.21133156450551877, 0.16554701015049214, 0.0006371203200430035, -0.0010939572806040086]
- [-0.19951712659266974, 0.14189320394813731, -0.002057441273332286, -0.00279936870291979]

#specified as [fx 0 cx 0 fy cy 0 0 1]
intrinsic_coeffs:
- [1255.7661285167007, 0.0, 633.6643372214643, 0.0, 1253.2470339107972, 521.0000311047382, 0.0, 0.0, 1.0]
- [1257.0217332659643, 0.0, 632.5753725217256, 0.0, 1256.1189388208545, 492.01565714778764, 0.0, 0.0, 1.0]

rectification_coeffs:
- [0.9957523783024181, -0.0281670698120689, -0.08765738578853412, 0.02769368284386981, 0.9995945878086233, -0.006612106642487861, 0.08780809208507502, 0.004156465073896091, 0.9961287380466786]
- [0.9956833380506718, -0.06025833095412615, -0.07059478648522698, 0.06063837181798097, 0.9981545070530874, 0.0032508326429390596, 0.07026861455540498, -0.007517552808667829, 0.997499778550468]

projection_coeffs:
- [1388.2617969436703, 0.0, 759.2249526977539, 0.0, 0.0, 1388.2617969436703, 507.6747169494629, 0.0, 0.0, 0.0, 1.0, 0.0]
- [1388.2617969436703, 0.0, 759.2249526977539, 278.81369985863324, 0.0, 1388.2617969436703, 507.6747169494629, 0.0, 0.0, 0.0, 1.0, 0.0]

flip_horizontal:
- true
- true

flip_vertical:
- true
- true
40 changes: 40 additions & 0 deletions params/calibration_files/stereo_17197556_17197557.yaml
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cam_ids:
- 17197556
- 17197557
cam_aliases:
- cam0
- cam1

#master_cam: 17197556
skip: 20
delay: 1.0

#Camera info message details
distortion_model: plumb_bob
image_height: 1024
image_width: 1280

distortion_coeffs:
- [-0.20704574734171718, 0.1378606052753204, -0.00016623127312903865, -0.0014678552308168902]
- [-0.20315604562055115, 0.13925984473430503, 0.0011700633742295359, -0.002631592980875036]

#specified as [fx 0 cx 0 fy cy 0 0 1]
intrinsic_coeffs:
- [1253.702985566858, 0.0, 626.0038426699172, 0.0, 1253.5611530315684, 521.6826648653606, 0.0, 0.0, 1.0]
- [1249.0625547880688, 0.0, 633.4407842588579, 0.0, 1249.0308397534995, 535.9834578202574, 0.0, 0.0, 1.0]

rectification_coeffs:
- [0.999870166919909, 0.015624103543014101, -0.00394166107506912, -0.015616951626054152, 0.9998763572767314, 0.0018387443878286702, 0.0039699024500641535, -0.001776948927645647, 0.9999905411187876]
- [0.9999919133838011, 0.0028219174708584696, -0.002865300820562143, -0.0028270930622141884, 0.9999943768034167, -0.001803858742772549, 0.002860194367911154, 0.0018119446277301825, 0.9999942680559943]

projection_coeffs:
- [1242.8692771645083, 0.0, 630.979866027832, 0.0, 0.0, 1242.8692771645083, 531.3879089355469, 0.0, 0.0, 0.0, 1.0, 0.0]
- [1242.8692771645083, 0.0, 630.979866027832, 253.03796302310053, 0.0, 1242.8692771645083, 531.3879089355469, 0.0, 0.0, 0.0, 1.0, 0.0]

flip_horizontal:
- true
- true

flip_vertical:
- true
- true
40 changes: 40 additions & 0 deletions params/calibration_files/stereo_17197560_17197550.yaml
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@@ -0,0 +1,40 @@
cam_ids:
- 17197560
- 17197550
cam_aliases:
- cam0
- cam1

#master_cam: 17197560
skip: 20
delay: 1.0

#Camera info message details
distortion_model: plumb_bob
image_height: 1024
image_width: 1280

distortion_coeffs:
- [-0.19646860778761444, 0.11966919829956081, 0.0007669487706857788, -0.0013965801592123956]
- [-0.1914413046332957, 0.11346023268077468, 0.0019526799897460604, -0.002542153300965656]

#specified as [fx 0 cx 0 fy cy 0 0 1]
intrinsic_coeffs:
- [1278.623621111693, 0.0, 634.8138812505675, 0.0, 1276.7310814743978, 535.3629837510302, 0.0, 0.0, 1.0]
- [1273.2817308511162, 0.0, 629.495280191018, 0.0, 1273.4616558529785, 537.4608865156434, 0.0, 0.0, 1.0]

rectification_coeffs:
- [0.999951055794313, -0.008506807285265669, 0.0050517566895154475, 0.008499995333857072, 0.999962938127486, 0.001368375229905995, -0.00506320996632779, -0.0013253683475786214, 0.9999863035579938]
- [0.9995596958074359, -0.029351275291735073, -0.004349385714674004, 0.02934538988112363, 0.9995683356052899, -0.001410867816356254, 0.004388919009400241, 0.001282612185801062, 0.9999895460933128]

projection_coeffs:
- [1251.7378592347225, 0.0, 627.0195465087891, 0.0, 0.0, 1251.7378592347225, 540.562442779541, 0.0, 0.0, 0.0, 1.0, 0.0]
- [1251.7378592347225, 0.0, 627.0195465087891, 256.12061596895546, 0.0, 1251.7378592347225, 540.562442779541, 0.0, 0.0, 0.0, 1.0, 0.0]

flip_horizontal:
- true
- true

flip_vertical:
- true
- true
6 changes: 5 additions & 1 deletion params/external_trigger_params.yaml
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Original file line number Diff line number Diff line change
@@ -1,15 +1,19 @@
cam_ids:
- 17197559
- 17197557
- 17197555
cam_aliases:
- cam0
- cam1
skip: 20
delay: 1.0

flip_horizontal:
- false
- false

flip_vertical:
- false
- false

# Assign all the follwing via launch file to prevent confusion and conflict

Expand Down
8 changes: 2 additions & 6 deletions params/stereo_camera_example.yaml
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@@ -1,11 +1,10 @@
cam_ids:
<<<<<<< HEAD
- 17197554
- 17197557
- 17197556
cam_aliases:
- cam0
- cam1
master_cam: 17197554
master_cam: 17197557
skip: 20
delay: 1.0

Expand Down Expand Up @@ -42,7 +41,6 @@ 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]
- [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
<<<<<<< HEAD

flip_horizontal:
- false
Expand All @@ -51,5 +49,3 @@ flip_horizontal:
flip_vertical:
- false
- false
=======
>>>>>>> master
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