Bug fixes and improvements, fixed pixel formats and added external trigger on SyncIn2.

.gitignore

@@ -1,33 +1,50 @@
-# Specific files
-src/VimbaCPP/
-
-# Build objects
-lib/
-bin/
-build/
-docs/
-
-# Auto generated code
-cfg/cpp/
-cfg/*.cfgc
-     msg_gen/
-     msg/lisp/
-
-# CMake files
-CMakeCache.txt
-cmake_install.cmake
-CMakeFiles/
-src/*/Makefile
-src/*/cmake_install.cmake
-src/*/CMakeFiles/
-
-# Eclipse temporary files
-.cproject
-.project
-.pydevproject
-
-# ctags
-.tags*
-*/.tags*
+# These are some examples of commonly ignored file patterns.
+# You should customize this list as applicable to your project.
+# Learn more about .gitignore:
+#     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
 
+# Node artifact files
+node_modules/
+dist/
+
+# Compiled Java class files
+*.class
+
+# Compiled Python bytecode
+*.py[cod]
+
+# Log files
+*.log
+
+# Package files
+*.jar
+
+# Maven
+target/
+dist/
+
+# JetBrains IDE
+.idea/
+
+# Unit test reports
+TEST*.xml
+
+# Generated by MacOS
+.DS_Store
+
+# Generated by Windows
+Thumbs.db
+
+# Applications
+*.app
+*.exe
+*.war
+
+# Large media files
+*.mp4
+*.tiff
+*.avi
+*.flv
+*.mov
+*.wmv
 

CHANGELOG.rst

@@ -2,6 +2,33 @@
 Changelog for package avt_vimba_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.12 (2020-06-05)
+-------------------
+* Fix MonoCamera nodelet (`#16 <https://github.com/astuff/avt_vimba_camera/issues/16>`_)
+* Launch File Updates (`#13 <https://github.com/astuff/avt_vimba_camera/issues/13>`_)
+
+  * Standardize launch file formatting, remove commented code
+  * Provide args for all parameters
+  * Launch file for Mako G-319
+
+* Remove duplicated launch file installs (`#15 <https://github.com/astuff/avt_vimba_camera/issues/15>`_)
+* Brief README (`#10 <https://github.com/astuff/avt_vimba_camera/issues/10>`_)
+* Add more pixelformats, thanks to @jmoreau-hds (`#3 <https://github.com/astuff/avt_vimba_camera/issues/3>`_)
+* Contributors: icolwell-as
+
+0.0.11 (2019-08-19)
+-------------------
+* Merge pull request `#35 <https://github.com/astuff/avt_vimba_camera/issues/35>`_ from willcbaker/feature/nodelet
+  Feature/nodelet
+* Update nodelet launch files
+* Add nodelet
+* Fix `#31 <https://github.com/astuff/avt_vimba_camera/issues/31>`_
+* Merge pull request `#30 <https://github.com/astuff/avt_vimba_camera/issues/30>`_ from chewwt/armv8
+  add support for armv8
+* add support for armv8
+* Change frame observer to shared ptr
+* Contributors: Miquel Massot, Will Baker, ruth
+
 0.0.10 (2017-08-16)
 -------------------
 * Merge pull request `#26 <https://github.com/srv/avt_vimba_camera/issues/26>`_ from 130s/k/add_ci
@@ -30,9 +57,11 @@ Changelog for package avt_vimba_camera
 * Change variable scope
 * Fix `#15 <https://github.com/srv/avt_vimba_camera/issues/15>`_: do not depend on turbot_configurations
 * Merge pull request `#14 <https://github.com/srv/avt_vimba_camera/issues/14>`_ from josepqp/kinetic
-* 1) Added ARM 32 bits libraries
-  2) Modified CMakeList.txt to compile with ARM 32 bits
-  3) Added Iris Parameter
+
+  * Added ARM 32 bits libraries
+  * Modified CMakeList.txt to compile with ARM 32 bits
+  * Added Iris Parameter
+
 * kinetization
 * Fix sync problems after camera tests
 * Add a sync timer

CMakeLists.txt

@@ -117,6 +117,7 @@ add_dependencies_and_linkings(sync_node)
 add_library(avt_camera_nodelets
   src/nodes/mono_camera_nodelet.cpp
   src/nodes/stereo_camera_nodelet.cpp
+  src/mono_camera.cpp
   src/stereo_camera.cpp
   src/avt_vimba_camera.cpp
   src/frame_observer.cpp)
@@ -143,10 +144,6 @@ install(DIRECTORY include
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   plugins.xml
-  launch/mono_camera.launch
-  launch/mono_camera_nodelet.launch
-  launch/stereo_camera_one_node.launch
-  launch/stereo_camera_two_nodes.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

README.md

@@ -0,0 +1,11 @@
+# avt_vimba_camera
+
+This repo contains a ROS driver for cameras manufactured by [Allied Vision Technologies](https://www.alliedvision.com).
+The driver relies on libraries provided by AVT as part of their [Vimba SDK](https://www.alliedvision.com/en/products/software.html).
+
+## Installing the driver
+
+You can install via ROS package repos:
+```
+sudo apt install ros-$ROS_DISTRO-avt-vimba-camera
+```

cfg/AvtVimbaCamera.cfg

@@ -31,15 +31,39 @@ acquisition_mode_enum = gen.enum( [ gen.const("Continuous",  str_t, "Continuous"
 									gen.const("SingleFrame", str_t, "SingleFrame", "The camera will only deliver a single frame trigger event"),
 									gen.const("MultiFrame",  str_t, "MultiFrame", "The camera will acquire the number of images specified by `~AcquisitionFrameCount`. Further trigger events will be ignored"),
 									gen.const("Recorder", 	 str_t, "Recorder", "The camera will continuously record images into the camera on-board memory")], "Set Trigger Mode")
-# Monochrome cameras have mono8,12 and 12Packed. Color cameras have only mono8.
-pixelformat_enum = gen.enum([ gen.const("Mono8", str_t,  "Mono8", ""),
-							  gen.const("Mono12",          str_t,  "Mono12", ""),
-							  gen.const("Mono12Packed",    str_t,  "Mono12Packed", ""),
-                gen.const("BayerRG8", str_t,  "BayerRG8", ""),
-							  gen.const("BayerRG12Packed", str_t,  "BayerRG12Packed", ""),
-							  gen.const("BayerGR12", 		 str_t,  "BayerGR12", ""),
-							  gen.const("RGB8Packed", 	 str_t,  "RGB8Packed", ""),
-							  gen.const("BGR8Packed",      str_t,  "BGR8Packed", "")], "Set Pixel Format")
+
+# NOTE: Your AVT camera model likely doesn't support all these formats,
+# check the datasheet to confirm which formats are supported.
+pixelformat_enum = gen.enum([
+	gen.const("Mono8", str_t, "Mono8", ""),
+	gen.const("Mono10", str_t, "Mono10", ""),
+	gen.const("Mono10Packed", str_t, "Mono10Packed", ""),
+	gen.const("Mono12", str_t, "Mono12", ""),
+	gen.const("Mono12Packed", str_t, "Mono12Packed", ""),
+	gen.const("BayerGR8", str_t, "BayerGR8", ""),
+	gen.const("BayerRG8", str_t, "BayerRG8", ""),
+	gen.const("BayerGB8", str_t, "BayerGB8", ""),
+	gen.const("BayerBG8", str_t, "BayerBG8", ""),
+	gen.const("BayerGR10", str_t, "BayerGR10", ""),
+	gen.const("BayerRG10", str_t, "BayerRG10", ""),
+	gen.const("BayerGB10", str_t, "BayerGB10", ""),
+	gen.const("BayerBG10", str_t, "BayerBG10", ""),
+	gen.const("BayerGR12", str_t, "BayerGR12", ""),
+	gen.const("BayerRG12", str_t, "BayerRG12", ""),
+	gen.const("BayerGB12", str_t, "BayerGB12", ""),
+	gen.const("BayerBG12", str_t, "BayerBG12", ""),
+	gen.const("BayerGR10Packed", str_t, "BayerGR10Packed", ""),
+	gen.const("BayerRG10Packed", str_t, "BayerRG10Packed", ""),
+	gen.const("BayerGB10Packed", str_t, "BayerGB10Packed", ""),
+	gen.const("BayerBG10Packed", str_t, "BayerBG10Packed", ""),
+	gen.const("BayerGR12Packed", str_t, "BayerGR12Packed", ""),
+	gen.const("BayerRG12Packed", str_t, "BayerRG12Packed", ""),
+	gen.const("BayerGB12Packed", str_t, "BayerGB12Packed", ""),
+	gen.const("BayerBG12Packed", str_t, "BayerBG12Packed", ""),
+	gen.const("RGB8Packed", str_t, "RGB8Packed", ""),
+	gen.const("BGR8Packed", str_t, "BGR8Packed", "")
+], "Set Pixel Format")
+
 auto_enum = gen.enum([ gen.const("Off",  str_t, "Off", ""),
       				   gen.const("Once", str_t, "Once", ""),
       				   gen.const("Auto", str_t, "Continuous", "")], "Set Automatic Control")
@@ -79,7 +103,7 @@ gen.add("frame_id",             str_t,    SensorLevels.RECONFIGURE_RUNNING, "The
 gen.add("trig_timestamp_topic", str_t,    SensorLevels.RECONFIGURE_STOP,    "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "")
 # ACQUISITION
 gen.add("acquisition_mode",     str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
-gen.add("acquisition_rate",     double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 2, 1, 30)
+gen.add("acquisition_rate",     double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 2, 0.001, 30)
 # TRIGGER
 gen.add("trigger_source",       str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
 gen.add("trigger_mode",			    str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "On", edit_method = trigger_mode_enum)
@@ -117,7 +141,7 @@ gen.add("binning_y",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "Num
 gen.add("decimation_x",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in x.", 1, 1, 8)
 gen.add("decimation_y",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in y.", 1, 1, 8)
 # ROI
-gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4096, 1, 4096)
+gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4112, 1, 4112)
 gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 4096, 1, 4096)
 gen.add("roi_width",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
 gen.add("roi_height",           int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)

include/avt_vimba_camera/avt_vimba_api.h

@@ -128,7 +128,8 @@ class AvtVimbaApi {
     else if (pixel_format == VmbPixelFormatBayerGB10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
     else if (pixel_format == VmbPixelFormatBayerBG10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
     else if (pixel_format == VmbPixelFormatBayerGR12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerRG12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    // dcasa: fixed BayerRG8 image encoding
+    else if (pixel_format == VmbPixelFormatBayerRG12      ) encoding = sensor_msgs::image_encodings::BAYER_RGGB16;
     else if (pixel_format == VmbPixelFormatBayerGB12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
     else if (pixel_format == VmbPixelFormatBayerBG12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
     else if (pixel_format == VmbPixelFormatBayerGR12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
@@ -153,12 +154,20 @@ class AvtVimbaApi {
     VmbErrorType err = vimba_frame_ptr->GetImage(buffer_ptr);
     bool res = false;
     if ( VmbErrorSuccess == err ) {
+      // dcasa: scale 12 bit image to 16 bit container
+      if (pixel_format == VmbPixelFormatBayerRG12) {
+        unsigned short *buffer_ptr_uint16 = (unsigned short *)buffer_ptr;
+        for (unsigned int i=0; i<nSize/2; i++) {
+          buffer_ptr_uint16[i]<<=4;
+        }
+      }
       res = sensor_msgs::fillImage(image,
                                    encoding,
                                    height,
                                    width,
                                    step,
                                    buffer_ptr);
+
     } else {
       ROS_ERROR_STREAM("[" << ros::this_node::getName()
         << "]: Could not GetImage. "

launch/Mako_G-319.launch

@@ -0,0 +1,23 @@
+<launch>
+  <arg name="name" default="camera" doc="The name of the camera"/>
+  <arg name="frame_id" default="camera" doc="The frame id of the camera"/>
+  <arg name="ip" default="" doc="The IP for the camera to connect to"/>
+  <arg name="guid" default="" doc="The GUID for the camera to connect to"/>
+  <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
+  <arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
+
+  <include file="$(find avt_vimba_camera)/launch/mono_camera.launch">
+    <arg name="name" value="$(arg name)"/>
+    <arg name="frame_id" value="$(arg frame_id)"/>
+    <arg name="ip" value="$(arg ip)"/>
+    <arg name="guid" value="$(arg guid)"/>
+    <arg name="camera_info_url" value="$(arg camera_info_url)"/>
+    <arg name="acquisition_rate" value="$(arg acquisition_rate)"/>
+
+    <!-- Params specific to Mako G-319 -->
+    <arg name="pixel_format" value="BayerRG8"/>
+    <arg name="width" value="2064"/>
+    <arg name="height" value="1544"/>
+    <arg name="stream_bytes_per_second" value="119824282"/>
+  </include>
+</launch>

launch/calibration.launch

@@ -1,9 +1,9 @@
 <launch>
-	<arg name="stereo" default="stereo"/>
-	<node pkg="camera_calibration" type="cameracalibrator.py" name="camera_calibrator" args="-k 6 --size 8x6 --square=0.04" output="screen">
-		<remap from="left" to="$(arg stereo)/left/image_mono" />
-		<remap from="left_camera" to="$(arg stereo)/left" />
-		<remap from="right" to="$(arg stereo)/right/image_mono" />
-		<remap from="right_camera" to="$(arg stereo)/right" />
-	</node>
-</launch>
+  <arg name="stereo" default="stereo"/>
+  <node pkg="camera_calibration" type="cameracalibrator.py" name="camera_calibrator" args="-k 6 --size 8x6 --square=0.04" output="screen">
+    <remap from="left" to="$(arg stereo)/left/image_mono" />
+    <remap from="left_camera" to="$(arg stereo)/left" />
+    <remap from="right" to="$(arg stereo)/right/image_mono" />
+    <remap from="right_camera" to="$(arg stereo)/right" />
+  </node>
+</launch>