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Feature/image flip (#41)
* Feature/cam info msg fix (#38) * minor changes to adding camerainfo header in export_to_ros method * will handle if binning is set properly and wwarn if camera is not calibrated at full resolution * Adding parameters for horizontal and vertical image flipping * will add feature to flip image horizontally and vertically, nodelet_subrciber_example.launch has been simplified * updated Readme to reflect flip horizontal and flip vertical params edits
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‎README.md‎

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@@ -91,6 +91,12 @@ All the parameters can be set via the launch file or via the yaml config_file.
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Flag whether each image should have Unique timestamps vs the master cams time stamp for all
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* ~max_rate_save (bool, default: false)
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Flag for max rate mode which is when the master triggers the slaves and saves images at maximum rate possible. This is the multithreaded mode
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* ~flip_horizontal (bool, default: false)
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Flag to flip image horizontally on camera itself, this is not a rotate only a mirror image. This setting does enumeration: "reverseX". It should be specified for all cameras or can be left unspecified for all cameras for default behaviour.
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* ~flip_vertical (bool, default: false)
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Flag to flip image vertically on camera itself, this is not a rotate only a mirror image. This setting does enumeration: "reverseY". It should be specified for all cameras or can be left unspecified for all cameras for default behaviour.
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If both horizontal and vertical flags are true, then it is equivalent to rotating 180deg.
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### node/nodelet Specific Parameters
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* ~tf_prefix (string, default: "")

‎include/spinnaker_sdk_camera_driver/capture.h‎

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@@ -87,6 +87,8 @@ namespace acquisition {
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vector<vector<double>> rect_coeff_vec_;
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vector<vector<double>> proj_coeff_vec_;
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vector<string> imageNames;
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vector<bool> flip_horizontal_vec_;
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vector<bool> flip_vertical_vec_;
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string path_;
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string todays_date_;

‎launch/acquisition.launch‎

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<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
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<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
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<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" />
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<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
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<!-- nodelet manager params-->
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<arg name="nodelet_manager_name" default="vision_nodelet_manager" doc="name of the nodelet manager, comes handy when launching multiple nodelets from different launch files" />
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<!-- Capture nodelet params-->
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<arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
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<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
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<!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen" if="$(arg start_nodelet_manager)" />
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‎launch/acquisition_node.launch‎

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<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
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<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
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<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" />
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<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
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<!-- acquisiton node params-->
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<arg name="tf_prefix" default="" />
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<arg name="tf_prefix" default="" />
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<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
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<!-- load the acquisition node -->
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<node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)" args="" respawn="false" >

‎launch/nodelet_subscriber_example.launch‎

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<launch>
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<!-- configure console output verbosity mode:debug_console.conf or std_console.conf -->
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>
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<!-- acquisition spinnaker params-->
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<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
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<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
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<arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
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<arg name="external_trigger" default="false" doc="External trigger (No camera is master)"/>
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<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" />
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<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
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<arg name="live" default="false" doc="Show images on screen GUI"/>
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<arg name="live_grid" default="false" doc="Show images on screen GUI in a grid"/>
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<arg name="output" default="screen" doc="display output to screen or log file"/>
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<arg name="save" default="false" doc="flag whether images should be saved or not"/>
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<arg name="save_path" default="~" doc="location to save the image data"/>
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<arg name="save_type" default="bmp" doc="Type of file type to save to when saving images locally: binary, tiff, bmp, jpeg etc." />
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<arg name="soft_framerate" default="30" doc="When hybrid software triggering is used, this controls the FPS, 0=as fast as possible"/>
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<arg name="time" default="false" doc="Show time/FPS on output"/>
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<arg name="to_ros" default="true" doc="Flag whether images should be published to ROS" />
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<arg name="utstamps" default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
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<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" />
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<arg name="config_file" default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
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<!-- nodelet manager params-->
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<arg name="nodelet_manager_name" default="vision_nodelet_manager" doc="name of the nodelet manager, comes handy when launching multiple nodelets from different launch files" />
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<arg name="start_nodelet_manager" default="false" doc="If set to True, creates a nodelet manager with $(arg nodelet_manager_name).
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If False, the acquisition/capture_nodelet waits for the nodelet_manager name $(arg nodelet_manager_name)" />
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<!-- Capture nodelet params-->
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<arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
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<!-- start the nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen" />
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<!-- load the acquisition nodelet -->
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<node pkg="nodelet" type="nodelet" name="acquisition_node"
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args="load acquisition/capture_nodelet $(arg nodelet_manager_name)" >
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<!-- load the acquisition node parameters file. Note any parameters provided in this file will
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override what is in the yaml file. Thus use it to set parameters camer_array configuration params -->
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<rosparam command="load" file="$(arg config_file)" />
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<!-- Load parameters onto server using argument or default values above -->
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<param name="exposure_time" value="$(arg exposure_time)" />
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<param name="external_trigger" value="$(arg external_trigger)" />
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<param name="target_grey_value" value="$(arg target_grey_value)" />
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<param name="binning" value="$(arg binning)" />
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<param name="color" value="$(arg color)" />
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<param name="frames" value="$(arg frames)" />
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<param name="live" value="$(arg live)" />
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<param name="live_grid" value="$(arg live_grid)" />
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<param name="save" value="$(arg save)" />
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<param name="save_type" value="$(arg save_type)" />
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<param name="save_path" value="$(arg save_path)" />
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<param name="soft_framerate" value="$(arg soft_framerate)" />
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<param name="time" value="$(arg time)" />
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<param name="utstamps" value="$(arg utstamps)" />
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<param name="to_ros" value="$(arg to_ros)"/>
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<param name="max_rate_save" value="$(arg max_rate_save)"/>
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<param name="tf_prefix" value="$(arg tf_prefix)" />
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</node>
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<arg name="vision_nm" default="vision_nodelet_manager_example" doc="name of the nodelet manager" />
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<arg name="camera_tf_prefix" default="" />
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<include file="$(find spinnaker_sdk_camera_driver)/launch/acquisition.launch" >
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<arg name="nodelet_manager_name" value="$(arg vision_nm)" />
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<arg name="tf_prefix" value="$(arg camera_tf_prefix)" />
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</include>
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<node pkg="nodelet" type="nodelet" name="subscriber_nodelet"
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args="load acquisition/subscriber_nodelet $(arg nodelet_manager_name)" output="screen" />
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args="load acquisition/subscriber_nodelet $(arg vision_nm)" output="screen" />
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</launch>

‎params/external_trigger_params.yaml‎

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skip: 20
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delay: 1.0
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flip_horizontal:
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- false
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flip_vertical:
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- false
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# Assign all the follwing via launch file to prevent confusion and conflict
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#save_path: ~/projects/data

‎params/multi-cam_example.yaml‎

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- [923.700443, 0.000000, 973.847232, 0.000000, 0.000000, 1100.763631, 832.341983, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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- [800.784635, 0.000000, 983.78252, 0.000000, 0.000000, 903.736234, 798.561973, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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flip_horizontal:
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- false
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- false
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- false
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- false
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- false
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flip_vertical:
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- false
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- false
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- false
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- false
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- false

‎params/stereo_camera_example.yaml‎

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projection_coeffs:
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- [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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- [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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flip_horizontal:
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- false
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- false
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flip_vertical:
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- false
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- false

‎params/test_params.yaml‎

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projection_coeffs:
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- [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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flip_horizontal:
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- false
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flip_vertical:
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- false

‎src/camera.cpp‎

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if (!IsAvailable(ptr) || !IsWritable(ptr)) {
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ROS_FATAL_STREAM("Unable to set " << setting << " to " << val << " (ptr retrieval). Aborting...");
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}
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if (val) ptr->SetValue("True");
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else ptr->SetValue("False");
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ptr->SetValue(val);
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ROS_DEBUG_STREAM(setting << " set to " << val);
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