Merge pull request #115 from neufieldrobotics/dev_master_merge

Dev master merge

Author: jpsnir

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,39 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**System Description**
+Camera Name and Model:
+Operating System:
+Spinnaker Version:
+ROS Version: 
+
+***Computer details***
+Processor:
+RAM:
+
+***Multiple Cameras Only***
+How is the triggering setup? Master/Slave or all slaves or all software triggered?
+
+For USB 3.0 cameras:
+On same USB 3.0 bus or different buses?
+Is the USB 3.0 hub externally powered?
+
+For Ethernet cameras: 
+How busy is the network, does the system work in grayscale, at a lower resoultion (binning) and framerate?
+
+**Do the cameras work with SpinView?**
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**Error Messages**
+Copy and paste your error messages here
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.

.gitignore

@@ -2,6 +2,8 @@ $ cat .gitignore
 *.[oa]
 *~
 
+include/spinnaker_sdk_camera_driver/spinnaker_configure.h
+
 # no .a files
 #*.a
 

CMakeLists.txt

@@ -8,11 +8,7 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 ###
 # camera Acquisition specific 
 ###
-#SET("OpenCV_DIR" "~/apps/opencv-2.4.13/")
 set(PROJECT_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include" CACHE PATH "Project Include Directory")
-set(SPINNAKER_INCLUDE_DIR "/usr/include/spinnaker" CACHE PATH "Spinnaker Include Directory")
-set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
-# set(yaml-cpp_DIR "~/apps/yaml-cpp" CACHE PATH "yaml-cpp Directory")
 set(CUDA_USE_STATIC_CUDA_RUNTIME  OFF)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -25,13 +21,15 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
   nodelet
 )
-
+find_package(trigger_msgs)
 #find_package(PCL REQUIRED)
 
 ###
 # Acquisition specific
 ###
 # Find Packages
+find_package(Spinnaker REQUIRED)
+message("spinnaker lib :   " ${Spinnaker_LIBRARIES})
 find_package(OpenCV REQUIRED)
 # use LibUnwind only for x86_64 or x86_32 architecture
 # do not use LibUnwind for arm architecture
@@ -51,6 +49,13 @@ elseif(NOT Boost_FOUND)
   message("Boost not found!")
 endif()
 
+# configure a header file to pass some of the CMake settings
+# to the source code
+configure_file (
+  "${PROJECT_SOURCE_DIR}/include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in"
+  "${PROJECT_SOURCE_DIR}/include/spinnaker_sdk_camera_driver/spinnaker_configure.h"
+)
+
 add_message_files(
   FILES
   SpinnakerImageNames.msg
@@ -76,15 +81,15 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
       ${LibUnwind_INCLUDE_DIRS}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${LibUnwind_LIBRARIES} ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
 
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
@@ -97,14 +102,14 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
 
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
 

README.md

@@ -3,9 +3,27 @@ master:
 dev: [![Build Status](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver.svg?branch=dev)](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver)
 
 # spinnaker_sdk_camera_driver
-
 These are the ros drivers for running the Pt Grey (FLIR) cameras that use the Spinnaker SDK.  This code has been tested with various Point Grey Blackfly S (BFS) cameras. 
 
+## Compatibility Matrix
+| Spinnaker | Architecture | Ubnuntu 16.04 Xenial +<br>ROS Kinetic  | Ubnuntu 18.04 Bionic +<br>ROS Melodic | Ubnuntu 20.04 Focal +<br>ROS Noetic |
+|-----------|:------------:|:--------------------------------------:|:-------------------------------------:|:-----------------------------------:|
+| 1.17.0.23 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.17.0.23 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.24.0.60 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.24.0.60 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 2.0.0.147 | AMD64        | :heavy_check_mark:                     |:white_check_mark:                     |:heavy_minus_sign:                   |
+| 2.0.0.147 | ARM64        | :heavy_check_mark:                     |                                       |:heavy_minus_sign:                   |
+| 2.2.0.48  | AMD64        | :heavy_minus_sign:                     |:heavy_check_mark:                     |                                     |
+| 2.2.0.48  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
+| 2.3.0.77  | AMD64        | :heavy_minus_sign:                     |                                       |                                     |
+| 2.3.0.77  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
+
+:heavy_check_mark: Tested 
+:heavy_minus_sign: Not Applicable 
+:white_check_mark: Reported to work 
+:x: Known compatibility Issue
+
 ## Getting Started
 
 These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
@@ -18,23 +36,25 @@ The pre-requisites for this repo include:
 * ros-kinetic-cv-bridge
 * ros-kinetic-image-transport
 
-**Incase of x86_64 or x86_32 architecture, also install *libunwind-dev* **
+#### After installing spinnaker, Verify that you can run your cameras with SpinView.
+
+#### For x86_64 or x86_32 architecture, install the following:
+* libunwind-dev
 
 ```bash
-# after installing spinnaker verify that you can run your cameras with SpinView
 
 # after installing ros, install other pre-requisites with: 
 
 sudo apt install libunwind-dev ros-kinetic-cv-bridge ros-kinetic-image-transport
+```
 
-# if you use arm64 (aarch64), install pre-requisites with: 
-
+####  For arm64 (aarch64) architecture, install pre-requisites with:
+```
 sudo apt install ros-kinetic-cv-bridge ros-kinetic-image-transport
-
 ```
 
 ### Installing
-To install the spinnaker drivers
+To install this spinnaker_sdk_camera_driver
 ```bash
 mkdir -p ~/spinnaker_ws/src
 cd spinnaker_ws/src
@@ -50,12 +70,11 @@ source ~/spinnaker_ws/devel/setup.bash
 Modify the `params/test_params.yaml` file replacing the cam-ids and master cam serial number to match your camera's serial number. Then run the code as:
 ```bash
 # To launch nodelet verison of driver, use #
+roslaunch spinnaker_sdk_camera_driver acquisition.launch
 
-roslaunch spinnaker_camera_driver acquisition.launch
-
-# To launch node version of driver, use 
+# To launch node version of driver, use #
+roslaunch spinnaker_sdk_camera_driver node_acquisition.launch
 
-roslaunch spinnaker_camera_driver node_acquisition.launch
 # Test that the images are being published by running
 rqt_image_view
 ```
@@ -69,7 +88,7 @@ All the parameters can be set via the launch file or via the yaml config_file.
   Should color images be used (only works on models that support color images)
 * ~exposure_time (int, default: 0, 0:auto)  
   Exposure setting for cameras, also available as dynamic reconfiguarble parameter.
-  * ~external_trigger (bool, default: false)  
+* ~external_trigger (bool, default: false)  
   Camera triggering setting when using an external trigger.  In this mode, none of the cameras would be set as a master camera. All cameras are setup to use external trigger.  In this mode the main loop runs at rate set by soft_framerate, so if the external trigger rate is higher than the soft_framerate, the buffer will get filled and images will have a lag. Also in this mode, the getnextimage timeout is set to infinite so that the node dosen't die if a trigger is not received for a while.
 * ~target_grey_value (double, default: 0 , 0:Continous/auto)
   Setting target_grey_value > 4 (min:4 , max:99) will turn AutoExposureTargetGreyValueAuto to 'off' and set AutoExposureTargetGreyValue to target_grey_value. Also available as dynamic reconfigurable parameter. see below in Dynamic reconfigurable parameter section.

cfg/debug_console.conf

@@ -1,5 +1,5 @@
 # Set the default ros output to warning and higher
 log4j.logger.ros=INFO
-log4j.logger.ros.datacollection_neu=DEBUG
+log4j.logger.ros.spinnaker_sdk_camera_driver=DEBUG
 
 

cmake/FindSpinnaker.cmake

@@ -0,0 +1,42 @@
+# Find the Spinnaker library
+#
+#  Spinnaker_FOUND        - True if Spinnaker was found.
+#  Spinnaker_LIBRARIES    - The libraries needed to use Spinnaker
+#  Spinnaker_INCLUDE_DIRS - Location of Spinnaker.h
+
+unset(Spinnaker_FOUND)
+unset(Spinnaker_INCLUDE_DIRS)
+unset(Spinnaker_LIBRARIES)
+
+find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /opt/spinnaker/include
+  )
+find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /opt/spinnaker/lib
+)
+
+if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+  message(STATUS "Couldnt find Spinnaker 2.2.x. Checking lower versions")
+  find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /usr/include/spinnaker/
+  /usr/local/include/spinnaker/
+  )
+  find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /usr/lib
+  /usr/local/lib
+  )
+  if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+     message(STATUS "Couldnt find Spinnaker.")
+  endif()
+endif()
+
+if (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)
+  message(STATUS "Spinnaker found in the system")
+  set(Spinnaker_FOUND 1)
+endif (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)

include/spinnaker_sdk_camera_driver/capture.h

@@ -4,7 +4,7 @@
 #include "std_include.h"
 #include "serialization.h"
 #include "camera.h"
-
+#include "spinnaker_configure.h"
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/filesystem.hpp>
 //ROS
@@ -23,6 +23,10 @@
 #include <nodelet/loader.h>
 #include "pluginlib/class_list_macros.h"
 
+#ifdef trigger_msgs_FOUND
+  #include <trigger_msgs/sync_trigger.h>
+#endif 
+
 using namespace Spinnaker;
 using namespace Spinnaker::GenApi;
 using namespace Spinnaker::GenICam;
@@ -38,7 +42,7 @@ namespace acquisition {
         ~Capture();
         Capture();
         virtual void onInit();
-
+        
         std::shared_ptr<boost::thread> pubThread_;
 
         void load_cameras();
@@ -73,7 +77,7 @@ namespace acquisition {
         void update_grid();
         void export_to_ROS();
         void dynamicReconfigureCallback(spinnaker_sdk_camera_driver::spinnaker_camConfig &config, uint32_t level);
-
+       
         float mem_usage();
 
         SystemPtr system_;    
@@ -112,6 +116,7 @@ namespace acquisition {
         string ext_;
         float exposure_time_;
         double target_grey_value_;
+        bool first_image_received;
         // int decimation_;
         string tf_prefix_;        
         int soft_framerate_; // Software (ROS) frame rate
@@ -139,6 +144,21 @@ namespace acquisition {
         bool VERIFY_BINNING_;
         uint64_t SPINNAKER_GET_NEXT_IMAGE_TIMEOUT_;
 
+        #ifdef trigger_msgs_FOUND
+            ros::Time latest_imu_trigger_time_;
+            uint32_t prev_imu_trigger_count_ = 0; 
+            uint32_t latest_imu_trigger_count_;
+
+            void assignTimeStampCallback(const trigger_msgs::sync_trigger::ConstPtr& msg);
+            struct SyncInfo_{
+                uint32_t latest_imu_trigger_count_;
+                ros::Time latest_imu_trigger_time_;
+            };
+            std::vector<std::queue<SyncInfo_>> sync_message_queue_vector_;
+            ros::Subscriber timeStamp_sub;
+        #endif
+        
+        
         bool region_of_interest_set_;
         int region_of_interest_width_;
         int region_of_interest_height_;

include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in

@@ -0,0 +1 @@
+#cmakedefine trigger_msgs_FOUND

params/stereo_camera_example.yaml

@@ -1,4 +1,5 @@
 cam_ids:
+<<<<<<< HEAD
 - 17197554
 - 17197556
 cam_aliases:
@@ -21,8 +22,9 @@ delay: 1.0
 
 #Camera info message details
 distortion_model: plumb_bob
-image_height: 1024 #1536
-image_width: 1280 #2048
+image_height: 1024
+image_width: 1280
+
 distortion_coeffs:
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
@@ -40,11 +42,14 @@ rectification_coeffs:
 projection_coeffs:
 - [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
 - [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+<<<<<<< HEAD
 
 flip_horizontal:
 - false
 - false
 
 flip_vertical:
 - false
-- false
+- false
+=======
+>>>>>>> master

params/test_params.yaml

@@ -1,8 +1,8 @@
 cam_ids:
-- 17197556
+- 17197559
 cam_aliases:
 - cam0
-master_cam: 17197556
+master_cam: 17197559
 skip: 20
 delay: 1.0