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Configurations
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@joydeep-b
joydeep-b committed Oct 17, 2020
1 parent 424121c commit 74732d0
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Showing 3 changed files with 150 additions and 54 deletions.
16 changes: 15 additions & 1 deletion config/blackfly-s.lua
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Original file line number Diff line number Diff line change
@@ -1,2 +1,16 @@
camera_serial = "19423367";
image_topic = "image";

camera_img_width = 1224;
camera_img_height = 1024;
camera_img_fmt = "BGR8";
camera_exposure = 16000.0; -- microseconds.

camera_enable_isp = true;

camera_enable_decimation = true;
camera_decimation = 1;
camera_enable_binning = true;
camera_binning = 2;

ros_image_encoding = "bgr8";
ros_image_topic = "image";
188 changes: 135 additions & 53 deletions src/spinnaker_ros_interface_main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,19 @@ DEFINE_bool(list, false, "List cameras");

DEFINE_string(config, "config/blackfly-s.lua", "Config file to load");

CONFIG_STRING(serial, "serial");
CONFIG_STRING(topic, "image_topic");
CONFIG_STRING(serial, "camera_serial");
CONFIG_INT(img_width, "camera_img_width");
CONFIG_INT(img_height, "camera_img_height");
CONFIG_STRING(img_fmt, "camera_img_fmt");
CONFIG_FLOAT(exposure, "camera_exposure");
CONFIG_INT(binning, "camera_binning");
CONFIG_INT(decimation, "camera_decimation");
CONFIG_BOOL(enable_isp, "camera_enable_isp");
CONFIG_BOOL(enable_binning, "camera_enable_binning");
CONFIG_BOOL(enable_decimation, "camera_enable_decimation");

CONFIG_STRING(topic, "ros_image_topic");
CONFIG_STRING(ros_image_encoding, "ros_image_encoding");

ros::Publisher image_pub_;

Expand Down Expand Up @@ -85,57 +96,125 @@ CameraPtr OpenCamera(CameraList& cam_list) {
}
}

template<typename SettingType, typename ValueType>
void WriteSetting(const std::string& setting,
const ValueType& value,
Spinnaker::GenApi::INodeMap& nodeMap) {
Spinnaker::GenApi::CPointer<SettingType> setting_node =
nodeMap.GetNode(setting.c_str());
LOG_IF(WARNING, !Spinnaker::GenApi::IsAvailable(setting_node))
<< "\n" << setting << " not available!";
if (!Spinnaker::GenApi::IsAvailable(setting_node)) return;
LOG_IF(WARNING, !Spinnaker::GenApi::IsWritable(setting_node))
<< "\n" << setting << " not writable!";
if (!Spinnaker::GenApi::IsWritable(setting_node)) return;
setting_node->SetValue(value);
cout << setting << " set to " << value << "\n";
}

template<typename SettingType, typename ValueType>
ValueType ReadSetting(const std::string& setting,
Spinnaker::GenApi::INodeMap& nodeMap) {
Spinnaker::GenApi::CPointer<SettingType> setting_node =
nodeMap.GetNode(setting.c_str());
CHECK(Spinnaker::GenApi::IsAvailable(setting_node))
<< "\n" << setting << " not available!";
CHECK(Spinnaker::GenApi::IsReadable(setting_node))
<< "\n" << setting << " not readable!";
return setting_node->GetValue();
}


std::string ReadEnum(const std::string& setting,
Spinnaker::GenApi::INodeMap& nodeMap) {
Spinnaker::GenApi::CEnumerationPtr setting_node =
nodeMap.GetNode(setting.c_str());
CHECK(Spinnaker::GenApi::IsAvailable(setting_node))
<< "\n" << setting << " not available!";
CHECK(Spinnaker::GenApi::IsReadable(setting_node))
<< "\n" << setting << " not readable!";
return setting_node->GetCurrentEntry()->GetSymbolic().c_str();
}

void SetEnum(const std::string& setting,
const std::string& value,
Spinnaker::GenApi::INodeMap& nodeMap) {
Spinnaker::GenApi::CEnumerationPtr setting_node =
nodeMap.GetNode(setting.c_str());
CHECK(Spinnaker::GenApi::IsAvailable(setting_node))
<< "\n" << setting << " not available!";
CHECK(Spinnaker::GenApi::IsReadable(setting_node))
<< "\n" << setting << " not readable!";
CEnumEntryPtr enum_entry = setting_node->GetEntryByName(value.c_str());
LOG_IF(WARNING, !IsAvailable(enum_entry))
<< "\nEnum entry \"" << value << "\" for setting \"" << setting
<< "\" Not available";
if (!IsAvailable(enum_entry)) return;
LOG_IF(WARNING, !IsReadable(enum_entry))
<< "\nEnum entry \"" << value << "\" for setting \"" << setting
<< "\" not readable";
if (!IsReadable(enum_entry)) return;
setting_node->SetIntValue(enum_entry->GetValue());
cout << setting << " set to " << value << "\n";
}

void ConfigureCamera(Spinnaker::CameraPtr camera) {
// Retrieve GenICam nodemap
Spinnaker::GenApi::INodeMap& nodeMap = camera->GetNodeMap();
try {
CEnumerationPtr ptrPixelFormat = nodeMap.GetNode("PixelFormat");
if (IsAvailable(ptrPixelFormat) && IsWritable(ptrPixelFormat)) {
// Retrieve the desired entry node from the enumeration node
CEnumEntryPtr ptrPixelFormatMono8 =
ptrPixelFormat->GetEntryByName("BayerRG8");
// CEnumEntryPtr ptrPixelFormatMono8 = ptrPixelFormat->GetEntryByName("Mono8");
if (IsAvailable(ptrPixelFormatMono8) && IsReadable(ptrPixelFormatMono8)) {
// Retrieve the integer value from the entry node
int64_t pixelFormatMono8 = ptrPixelFormatMono8->GetValue();
// Set integer as new value for enumeration node
ptrPixelFormat->SetIntValue(pixelFormatMono8);
} else {
cout << "Pixel format mono 8 not available..." << endl;
}
} else {
cout << "Pixel format not available..." << endl;
}
CIntegerPtr ptrOffsetX = nodeMap.GetNode("OffsetX");
if (IsAvailable(ptrOffsetX) && IsWritable(ptrOffsetX)) {
ptrOffsetX->SetValue(ptrOffsetX->GetMin());
cout << "Offset X set to " << ptrOffsetX->GetMin() << "..." << endl;
} else {
cout << "Offset X not available..." << endl;
cout << "DeviceMaxThroughput: "
<< ReadSetting<IInteger, int>("DeviceMaxThroughput", nodeMap)
<< "\n";
cout << "DeviceLinkSpeed: "
<< ReadSetting<IInteger, int>("DeviceLinkSpeed", nodeMap)
<< "\n";
cout << "DeviceLinkThroughputLimit: "
<< ReadSetting<IInteger, int>("DeviceLinkThroughputLimit", nodeMap)
<< "\n";
cout << "DeviceLinkBandwidthReserve: "
<< ReadSetting<IFloat, float>("DeviceLinkBandwidthReserve", nodeMap)
<< "\n";
SetEnum("PixelFormat", CONFIG_img_fmt, nodeMap);
SetEnum("ExposureAuto", "Off", nodeMap);
SetEnum("ExposureMode", "Timed", nodeMap);
SetEnum("BinningSelector", "Sensor", nodeMap);
WriteSetting<IInteger, int>("Width", CONFIG_img_width, nodeMap);
WriteSetting<IInteger, int>("Height", CONFIG_img_height, nodeMap);
SetEnum("BinningSelector", "All", nodeMap);
// SetEnum("BinningVerticalMode", "Additive", nodeMap);
WriteSetting<Spinnaker::GenApi::IBoolean, float>(
"IspEnable", CONFIG_enable_isp, nodeMap);
WriteSetting<Spinnaker::GenApi::IFloat, float>(
"ExposureTime", CONFIG_exposure, nodeMap);
WriteSetting<Spinnaker::GenApi::IBoolean, float>(
"AcquisitionFrameRateEnable", false, nodeMap);
if (CONFIG_enable_decimation) {
WriteSetting<Spinnaker::GenApi::IInteger, float>(
"DecimationHorizontal", CONFIG_decimation, nodeMap);
WriteSetting<Spinnaker::GenApi::IInteger, float>(
"DecimationVertical", CONFIG_decimation, nodeMap);
}
CIntegerPtr ptrOffsetY = nodeMap.GetNode("OffsetY");
if (IsAvailable(ptrOffsetY) && IsWritable(ptrOffsetY)) {
ptrOffsetY->SetValue(ptrOffsetY->GetMin());
cout << "Offset Y set to " << ptrOffsetY->GetValue() << "..." << endl;
} else {
cout << "Offset Y not available..." << endl;
}
CIntegerPtr ptrWidth = nodeMap.GetNode("Width");
if (IsAvailable(ptrWidth) && IsWritable(ptrWidth)) {
int64_t widthToSet = ptrWidth->GetMax();
ptrWidth->SetValue(widthToSet);
cout << "Width set to " << ptrWidth->GetValue() << "..." << endl;
} else {
cout << "Width not available..." << endl;
}
CIntegerPtr ptrHeight = nodeMap.GetNode("Height");
if (IsAvailable(ptrHeight) && IsWritable(ptrHeight)) {
int64_t heightToSet = ptrHeight->GetMax();
ptrHeight->SetValue(heightToSet);
cout << "Height set to " << ptrHeight->GetValue() << "..." << endl << endl;
} else {
cout << "Height not available..." << endl << endl;
if (CONFIG_enable_binning) {
WriteSetting<Spinnaker::GenApi::IInteger, float>(
"BinningHorizontal", CONFIG_binning, nodeMap);
WriteSetting<Spinnaker::GenApi::IInteger, float>(
"BinningVertical", CONFIG_binning, nodeMap);
}
// WriteSetting<Spinnaker::GenApi::IFloat, float>(
// "AcquisitionFrameRate", 30.0f, nodeMap);
cout << "Resulting frame rate: "
<< ReadSetting<Spinnaker::GenApi::IFloat, float>("AcquisitionResultingFrameRate", nodeMap) << "\n";
cout << "Frame rate: "
<< ReadSetting<Spinnaker::GenApi::IFloat, float>(
"AcquisitionFrameRate", nodeMap)
<< "\n";
cout << "BinningVertical: "
<< ReadSetting<Spinnaker::GenApi::IInteger, float>(
"BinningVertical", nodeMap)
<< "\n";
cout << "Exposure Auto: "
<< ReadEnum("ExposureAuto", nodeMap)
<< "\n";
} catch (Spinnaker::Exception& e) {
LOG(FATAL) << "Spinnaker Error: " << e.what();
}
Expand All @@ -157,13 +236,17 @@ void CaptureLoop(CameraPtr pCam) {
ptrAcquisitionModeContinuous->GetValue();
ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);


// Begin acquiring images
pCam->BeginAcquisition();

sensor_msgs::Image image;
CONFIG_STRING(frame_id, "frame_id");

image.header.frame_id = CONFIG_frame_id;
image.width = CONFIG_img_width;
image.height = CONFIG_img_height;
image.encoding = CONFIG_ros_image_encoding;
while (ros::ok()) {
ImagePtr pResultImage = pCam->GetNextImage(1000);
if (pResultImage->IsIncomplete()) {
Expand All @@ -173,16 +256,16 @@ void CaptureLoop(CameraPtr pCam) {
} else {
image.header.stamp.fromSec(
1e-9 * static_cast<double>(pResultImage->GetTimeStamp()));
image.width = pResultImage->GetWidth();
image.height = pResultImage->GetHeight();
image.step = pResultImage->GetStride();
image.data.resize(pResultImage->GetBufferSize());
image.encoding = sensor_msgs::image_encodings::BAYER_BGGR8;
image.data.resize(
std::min<uint64_t>(image.height * image.step, pResultImage->GetBufferSize()));
memcpy(image.data.data(),
pResultImage->GetData(), image.data.size());
image_pub_.publish(image);
if (FLAGS_v > 0) {
printf("Image captured, t=%f\n", image.header.stamp.toSec());
printf("%dx%d %lu Image captured, t=%f\n",
image.width, image.height, image.data.size(),
image.header.stamp.toSec());
}
}

Expand All @@ -201,7 +284,6 @@ int main(int argc, char* argv[]) {
google::InitGoogleLogging(argv[0]);
google::ParseCommandLineFlags(&argc, &argv, false);
config_reader::ConfigReader config({FLAGS_config});

if (FLAGS_list) {
EnumerateCameras();
return 0;
Expand Down
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