Add FLIR-AX5 Camera

spinnaker_camera_driver/config/flir_ax5.yaml

@@ -0,0 +1,67 @@
+#
+# config file for FLIR AX5 cameras (GigE)
+#
+# This file maps the ros parameters to the corresponding Spinnaker "nodes" in the camera.
+# For more details on how to modify this file, see the README on camera configuration files.
+# Spinview method: double-click on nodes (under the features tab) to see their actual name and allowed values.
+
+parameters:
+  #
+  # -------- image format control
+  #
+  - name: pixel_format
+    type: enum
+    # default is "Mono8"
+    node: ImageFormatControl/PixelFormat
+  - name: image_width
+    type: int
+    node: ImageFormatControl/Width
+  - name: image_height
+    type: int
+    node: ImageFormatControl/Height
+  - name: offset_x # offset must come after image width reduction!
+    type: int
+    node: ImageFormatControl/OffsetX
+  - name: offset_y
+    type: int
+    node: ImageFormatControl/OffsetY
+
+  #
+  # -------- transport layer control (GigE)
+  #
+  - name: gev_scps_packet_size
+    type: int
+    # default is 576. Other cameras had the option to set to 9000 to enable jumbo frames, ensure NIC MTU set >= 9000
+    node: TransportLayerControl/GevSCPSPacketSize
+
+  # 
+  # ---------- FLIR Camera Control
+  #
+  - name: sensor_gain_mode
+    type: enum
+    # valid values: "HighGainMode" "LowGainMode"
+    node: CameraControl/SensorGainMode
+  - name: nuc_mode # Non-uniformity Control closes the shutter and recalibrates
+    type: enum
+    # valid values: "Automatic" "External" "Manual"
+    node: CameraControl/NUCMode
+  - name: sensor_dde_mode
+    type: enum
+    # valid values: "Automatic" "Manual" (DDE = Digital Detail Enhancement)
+    node: CameraControl/SensorDDEMode
+
+  # 
+  # ---------- FLIR Video Control
+  #
+  - name: sensor_video_standard
+    type: enum
+    # valid values: "NTSC30HZ" "PAL25Hz" "NTSC60HZ" "PAL50HZ" (affects framerate)
+    node: Mono8VideoControl/SensorVideoStandard
+  - name: image_adjust_method
+    type: enum
+    # valid values: "PlateauHistogram" "OnceBright" "AutoBright" "Manual" "Linear"
+    node: Mono8VideoControl/ImageAdjustMethod
+  - name: video_orientation
+    type: enum
+    # valid values: "Normal" "Invert" "Revert" "InvertRevert"
+    node: Mono8VideoControl/VideoOrientation

spinnaker_camera_driver/doc/index.rst

@@ -28,6 +28,7 @@ The following cameras have been successfully used with this driver:
 -  Grashopper (USB3)
 -  Oryx (reported working)
 -  Chameleon (USB3, tested on firmware v1.13.3.00)
+-  FLIR AX5 (GigE)
 
 Note: if you get other cameras to work, *please report back*, ideally
 submit a pull request with the camera config file you have created.
@@ -206,7 +207,7 @@ Blackfly S the parameters look like this:
 
 
 
-Setting up GigE cameras
+Network Configuration for GigE cameras
 =======================
 
 The Spinnaker SDK abstracts away the transport layer so a GigE camera
@@ -247,6 +248,14 @@ needing to spin up a custom launch file to get started, though it helps,
 and you’ll probably want one anyway to specify your camera’s serial
 number.
 
+If you do not set up DHCP or set a static IP, your camera will probably 
+assign itself an IP address according to the Link-Local address scheme. 
+The address will be 169.254.xxx.xxx, where the x's are randomly generated.
+In your computer's network settings, change the IPv4 Method for the port
+that connects to your camera to "Link-Local Only." (You could also set 
+the IPv4 Method to "Manual" with an address of 169.254.100.1 and a 
+subnet mask of 255.255.0.0).
+
 For more tips on GigE setup look at FLIR’s support pages
 `here <https://www.flir.com/support-center/iis/machine-vision/knowledge-base/lost-ethernet-data-packets-on-linux-systems/>`__
 and
@@ -291,10 +300,12 @@ valid enum strings in the configuration file, e.g.:
        node: DigitalIOControl/LineMode
 
 The hard part is often finding the node name, in the last example
-``"DigitalIOControl/LineMode"``. It usually follows by removing spaces
-from the ``spinview`` names. If that doesn’t work, launch the driver
-with the ``dump_node_map`` parameter set to “True” and look at the
-output for inspiration.
+``"DigitalIOControl/LineMode"``. It usually follows by removing spaces 
+from the ``spinview`` display names. However, in the SpinView GUI you 
+can also see the true name by double-clicking on a node under the 
+features tab and looking for "Name" (as opposed to "Display Name"). 
+If that doesn't work, launch the driver with the ``dump_node_map`` 
+parameter set to "True" and look at the output for inspiration.
 
 **NOTE: !!!! THE ORDER OF PARAMETER DEFINITION MATTERS !!!!**
 

spinnaker_camera_driver/launch/driver_node.launch.py

@@ -20,11 +20,9 @@
 from launch.actions import OpaqueFunction
 from launch.substitutions import LaunchConfiguration as LaunchConfig
 from launch.substitutions import PathJoinSubstitution
-
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
-
 example_parameters = {
     'blackfly_s': {
         'debug': False,
@@ -59,7 +57,8 @@
         'chunk_selector_gain': 'Gain',
         'chunk_enable_gain': True,
         'chunk_selector_timestamp': 'Timestamp',
-        'chunk_enable_timestamp': True},
+        'chunk_enable_timestamp': True,
+    },
     'chameleon': {
         'debug': False,
         'compute_brightness': False,
@@ -83,7 +82,8 @@
         'chunk_selector_gain': 'Gain',
         'chunk_enable_gain': True,
         'chunk_selector_timestamp': 'Timestamp',
-        'chunk_enable_timestamp': True},
+        'chunk_enable_timestamp': True,
+    },
     'grasshopper': {
         'debug': False,
         'compute_brightness': False,
@@ -102,8 +102,29 @@
         'chunk_selector_gain': 'Gain',
         'chunk_enable_gain': True,
         'chunk_selector_timestamp': 'Timestamp',
-        'chunk_enable_timestamp': True}
-    }
+        'chunk_enable_timestamp': True,
+    },
+    'flir_ax5': {
+        'debug': False,
+        'compute_brightness': False,
+        'adjust_timestamp': False,
+        'dump_node_map': False,
+        # --- Set parameters defined in flir_ax5.yaml
+        'pixel_format': 'Mono8',
+        'gev_scps_packet_size': 576,
+        'image_width': 640,
+        'image_height': 512,
+        'offset_x': 0,
+        'offset_y': 0,
+        'sensor_gain_mode': 'HighGainMode',  # "HighGainMode" "LowGainMode"
+        'nuc_mode': 'Automatic',  # "Automatic" "External" "Manual"
+        'sensor_dde_mode': 'Automatic',  # "Automatic" "Manual"
+        'sensor_video_standard': 'NTSC30HZ',  # "NTSC30HZ" "PAL25Hz" "NTSC60HZ" "PAL50HZ"
+        # valid values: "PlateauHistogram" "OnceBright" "AutoBright" "Manual" "Linear"
+        'image_adjust_method': 'PlateauHistogram',
+        'video_orientation': 'Normal',  # "Normal" "Invert" "Revert" "InvertRevert"
+    },
+}
 
 
 def launch_setup(context, *args, **kwargs):
@@ -112,34 +133,56 @@ def launch_setup(context, *args, **kwargs):
     camera_type = LaunchConfig('camera_type').perform(context)
     if not parameter_file:
         parameter_file = PathJoinSubstitution(
-            [FindPackageShare('spinnaker_camera_driver'), 'config',
-             camera_type + '.yaml'])
+            [FindPackageShare('spinnaker_camera_driver'), 'config', camera_type + '.yaml']
+        )
     if camera_type not in example_parameters:
         raise Exception('no example parameters available for type ' + camera_type)
 
-    node = Node(package='spinnaker_camera_driver',
-                executable='camera_driver_node',
-                output='screen',
-                name=[LaunchConfig('camera_name')],
-                parameters=[example_parameters[camera_type],
-                            {'ffmpeg_image_transport.encoding': 'hevc_nvenc',
-                             'parameter_file': parameter_file,
-                             'serial_number': [LaunchConfig('serial')]}],
-                remappings=[('~/control', '/exposure_control/control'), ])
+    node = Node(
+        package='spinnaker_camera_driver',
+        executable='camera_driver_node',
+        output='screen',
+        name=[LaunchConfig('camera_name')],
+        parameters=[
+            example_parameters[camera_type],
+            {
+                'ffmpeg_image_transport.encoding': 'hevc_nvenc',
+                'parameter_file': parameter_file,
+                'serial_number': [LaunchConfig('serial')],
+            },
+        ],
+        remappings=[
+            ('~/control', '/exposure_control/control'),
+        ],
+    )
 
     return [node]
 
 
 def generate_launch_description():
     """Create composable node by calling opaque function."""
-    return LaunchDescription([
-        LaunchArg('camera_name', default_value=['flir_camera'],
-                  description='camera name (ros node name)'),
-        LaunchArg('camera_type', default_value='blackfly_s',
-                  description='type of camera (blackfly_s, chameleon...)'),
-        LaunchArg('serial', default_value="'20435008'",
-                  description='FLIR serial number of camera (in quotes!!)'),
-        LaunchArg('parameter_file', default_value='',
-                  description='path to ros parameter definition file (override camera type)'),
-        OpaqueFunction(function=launch_setup)
-        ])
+    return LaunchDescription(
+        [
+            LaunchArg(
+                'camera_name',
+                default_value=['flir_camera'],
+                description='camera name (ros node name)',
+            ),
+            LaunchArg(
+                'camera_type',
+                default_value='blackfly_s',
+                description='type of camera (blackfly_s, chameleon...)',
+            ),
+            LaunchArg(
+                'serial',
+                default_value="'20435008'",
+                description='FLIR serial number of camera (in quotes!!)',
+            ),
+            LaunchArg(
+                'parameter_file',
+                default_value='',
+                description='path to ros parameter definition file (override camera type)',
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )