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added follower exposure controller renamed individual -> master
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...mera_driver/include/spinnaker_synchronized_camera_driver/follower_exposure_controller.hpp
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| // -*-c++-*-------------------------------------------------------------------- | ||
| // Copyright 2024 Bernd Pfrommer <bernd.pfrommer@gmail.com> | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef SPINNAKER_SYNCHRONIZED_CAMERA_DRIVER__FOLLOWER_EXPOSURE_CONTROLLER_HPP_ | ||
| #define SPINNAKER_SYNCHRONIZED_CAMERA_DRIVER__FOLLOWER_EXPOSURE_CONTROLLER_HPP_ | ||
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| #include <limits> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <spinnaker_camera_driver/exposure_controller.hpp> | ||
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| namespace spinnaker_synchronized_camera_driver | ||
| { | ||
| class FollowerExposureController : public spinnaker_camera_driver::ExposureController | ||
| { | ||
| public: | ||
| using Camera = spinnaker_camera_driver::Camera; | ||
| explicit FollowerExposureController(const std::string & name, rclcpp::Node * n); | ||
| void update( | ||
| Camera * cam, const std::shared_ptr<const spinnaker_camera_driver::Image> & img) final; | ||
| void addCamera(const std::shared_ptr<Camera> & cam) final; | ||
| double getExposureTime() final { return (currentExposureTime_); }; | ||
| double getGain() final { return (currentGain_); } | ||
| void link(const std::unordered_map<std::string, std::shared_ptr<ExposureController>> & map) final; | ||
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| private: | ||
| rclcpp::Logger get_logger() { return (rclcpp::get_logger(cameraName_)); } | ||
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| template <class T> | ||
| T declare_param(const std::string & n, const T & def) | ||
| { | ||
| return (node_->declare_parameter<T>(name_ + "." + n, def)); | ||
| } | ||
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| // ----------------- variables -------------------- | ||
| std::string name_; | ||
| std::string cameraName_; | ||
| rclcpp::Node * node_{0}; | ||
| std::string exposureParameterName_; | ||
| std::string gainParameterName_; | ||
| std::string masterControllerName_; | ||
| std::shared_ptr<spinnaker_camera_driver::ExposureController> masterController_; | ||
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| double currentExposureTime_{0}; | ||
| double currentGain_{std::numeric_limits<float>::lowest()}; | ||
| int numFramesSkip_{0}; | ||
| int maxFramesSkip_{10}; | ||
| }; | ||
| } // namespace spinnaker_synchronized_camera_driver | ||
| #endif // SPINNAKER_SYNCHRONIZED_CAMERA_DRIVER__FOLLOWER_EXPOSURE_CONTROLLER_HPP_ |
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spinnaker_synchronized_camera_driver/launch/follower_example.launch.py
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| # ----------------------------------------------------------------------------- | ||
| # Copyright 2024 Bernd Pfrommer <bernd.pfrommer@gmail.com> | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| # | ||
| # | ||
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| # | ||
| # Example file for two Blackfly S cameras that are *externally triggered*, i.e | ||
| # you must provide an external hardware synchronization pulse to both cameras! | ||
| # | ||
| # One of them creates a master controller, the other one a follower. The exposure | ||
| # parameters are determined by the master. This is a useful setup for e.g. a | ||
| # synchronized stereo camera. | ||
| # | ||
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| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument as LaunchArg | ||
| from launch.actions import OpaqueFunction | ||
| from launch.substitutions import LaunchConfiguration as LaunchConfig | ||
| from launch.substitutions import PathJoinSubstitution as PJoin | ||
| from launch_ros.actions import ComposableNodeContainer | ||
| from launch_ros.descriptions import ComposableNode | ||
| from launch_ros.substitutions import FindPackageShare | ||
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| camera_list = { | ||
| 'cam0': '20435008', | ||
| 'cam1': '20415937', | ||
| } | ||
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| exposure_controller_parameters = { | ||
| 'brightness_target': 120, # from 0..255 | ||
| 'brightness_tolerance': 20, # when to update exposure/gain | ||
| # watch that max_exposure_time is short enough | ||
| # to support the trigger frame rate! | ||
| 'max_exposure_time': 15000, # usec | ||
| 'min_exposure_time': 5000, # usec | ||
| 'max_gain': 29.9, | ||
| 'gain_priority': False, | ||
| } | ||
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| cam_parameters = { | ||
| 'debug': False, | ||
| 'quiet': True, | ||
| 'buffer_queue_size': 1, | ||
| 'compute_brightness': True, | ||
| 'exposure_auto': 'Off', | ||
| 'exposure_time': 10000, # not used under auto exposure | ||
| 'trigger_mode': 'On', | ||
| 'gain_auto': 'Off', | ||
| 'trigger_source': 'Line3', | ||
| 'trigger_selector': 'FrameStart', | ||
| 'trigger_overlap': 'ReadOut', | ||
| 'trigger_activation': 'RisingEdge', | ||
| 'balance_white_auto': 'Continuous', | ||
| # You must enable chunk mode and chunks: frame_id, exposure_time, and gain | ||
| 'chunk_mode_active': True, | ||
| 'chunk_selector_frame_id': 'FrameID', | ||
| 'chunk_enable_frame_id': True, | ||
| 'chunk_selector_exposure_time': 'ExposureTime', | ||
| 'chunk_enable_exposure_time': True, | ||
| 'chunk_selector_gain': 'Gain', | ||
| 'chunk_enable_gain': True, | ||
| # The Timestamp is not used at the moment | ||
| 'chunk_selector_timestamp': 'Timestamp', | ||
| 'chunk_enable_timestamp': True, | ||
| } | ||
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| def make_parameters(context): | ||
| """Launch synchronized camera driver node.""" | ||
| pd = LaunchConfig('camera_parameter_directory') | ||
| calib_url = 'file://' + LaunchConfig('calibration_directory').perform(context) + '/' | ||
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| exp_ctrl_names = [cam + '.exposure_controller' for cam in camera_list.keys()] | ||
| driver_parameters = { | ||
| 'cameras': list(camera_list.keys()), | ||
| 'exposure_controllers': exp_ctrl_names, | ||
| 'ffmpeg_image_transport.encoding': 'hevc_nvenc', # only for ffmpeg image transport | ||
| } | ||
| # generate identical exposure controller parameters for all cameras | ||
| for exp in exp_ctrl_names: | ||
| driver_parameters.update( | ||
| {exp + '.' + k: v for k, v in exposure_controller_parameters.items()} | ||
| ) | ||
| # now set cam0 to be master, cam1 to be follower | ||
| driver_parameters[exp_ctrl_names[0] + '.type'] = 'master' | ||
| driver_parameters[exp_ctrl_names[1] + '.type'] = 'follower' | ||
| # tell camera 1 that the master is (camera 0) | ||
| driver_parameters[exp_ctrl_names[1] + '.master'] = exp_ctrl_names[0] | ||
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| # generate camera parameters | ||
| cam_parameters['parameter_file'] = PJoin([pd, 'blackfly_s.yaml']) | ||
| for cam, serial in camera_list.items(): | ||
| cam_params = {cam + '.' + k: v for k, v in cam_parameters.items()} | ||
| cam_params[cam + '.serial_number'] = serial | ||
| cam_params[cam + '.camerainfo_url'] = calib_url + serial + '.yaml' | ||
| cam_params[cam + '.frame_id'] = cam | ||
| driver_parameters.update(cam_params) # insert into main parameter list | ||
| # link the camera to its exposure controller. Each camera has its own controller | ||
| driver_parameters.update({cam + '.exposure_controller_name': cam + '.exposure_controller'}) | ||
| return driver_parameters | ||
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| def launch_setup(context, *args, **kwargs): | ||
| container = ComposableNodeContainer( | ||
| name='cam_sync_container', | ||
| namespace='', | ||
| package='rclcpp_components', | ||
| executable='component_container', | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='spinnaker_synchronized_camera_driver', | ||
| plugin='spinnaker_synchronized_camera_driver::SynchronizedCameraDriver', | ||
| name='cam_sync', | ||
| parameters=[make_parameters(context)], | ||
| extra_arguments=[{'use_intra_process_comms': True}], | ||
| ), | ||
| ], | ||
| output='screen', | ||
| ) # end of container | ||
| return [container] | ||
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| def generate_launch_description(): | ||
| return LaunchDescription( | ||
| [ | ||
| LaunchArg( | ||
| 'camera_parameter_directory', | ||
| default_value=PJoin([FindPackageShare('spinnaker_camera_driver'), 'config']), | ||
| description='root directory for camera parameter definitions', | ||
| ), | ||
| LaunchArg( | ||
| 'calibration_directory', | ||
| default_value=['camera_calibrations'], | ||
| description='root directory for camera calibration files', | ||
| ), | ||
| OpaqueFunction(function=launch_setup), | ||
| ] | ||
| ) |
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