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Allows cameras to publish images in RGB24 format #3

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Allows cameras to publish images in RGB24 format #3

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555cae9
RGB24 fix
Oct 29, 2013
26700e2
RGB24 fix
Oct 29, 2013
f810844
Removed a duplicate getParam call for pixel_format
Oct 29, 2013
c018a8c
Minor warn/debug fixes
Oct 29, 2013
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1 change: 1 addition & 0 deletions prosilica_camera/cfg/ProsilicaCamera.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -38,5 +38,6 @@ gen.add("exposure_auto_max", double_t, SensorLevels.RECONFIGURE_RUNNING, "The
gen.add("exposure_auto_target", int_t, SensorLevels.RECONFIGURE_RUNNING, "The auto exposure target mean value as a percentage, from 0=black to 100=white.", 50, 0, 100)
gen.add("gain_auto_max", int_t, SensorLevels.RECONFIGURE_RUNNING, "The max gain level in auto gain mode, in dB.", 24, 0, 24)
gen.add("gain_auto_target", int_t, SensorLevels.RECONFIGURE_RUNNING, "The auto gain target mean value as a percentage, from 0=black to 100=white.", 50, 0, 100)
gen.add("pixel_format", str_t, SensorLevels.RECONFIGURE_RUNNING, "The pixel format - default is Bayer8. Currently, the only other supported format is 24-bit rgb: use 'Rgb24'", "Bayer8")
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@ahendrix ahendrix Mar 4, 2014

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This should probably be an enumeration rather than a raw string. Take a look at how the enum for the streaming mode is implemented.


exit(gen.generate(PACKAGE, "prosilica_driver", "ProsilicaCamera"))
27 changes: 26 additions & 1 deletion prosilica_camera/src/nodes/prosilica_node.cpp
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Expand Up @@ -187,7 +187,18 @@ class ProsilicaNode

// Service call for setting calibration.
set_camera_info_srv_ = nh_.advertiseService("set_camera_info", &ProsilicaNode::setCameraInfo, this);


// Set the pixel format
std::string pix_format = "";
if (local_nh.getParam("pixel_format", pix_format) && (pix_format == "Rgb24" || pix_format == "Bayer8"))
{
if (cam_->hasAttribute("PixelFormat"))
{
ROS_WARN_STREAM("Setting camera pixel format to " << pix_format);
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@tfoote tfoote Oct 29, 2013

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Why is this a WARN?

cam_->setAttribute("PixelFormat", pix_format);
}
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@tfoote tfoote Oct 29, 2013

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The same block below has an else with a WARN should this not too?

}

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@ahendrix ahendrix Mar 4, 2014

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This is unnecessary. Dynamic_reconfigure will automatically pull in parameters from the parameter server and call the configuration callback on initialization.

// Start dynamic_reconfigure
reconfigure_server_.setCallback(boost::bind(&ProsilicaNode::configure, this, _1, _2));
}
Expand Down Expand Up @@ -331,6 +342,20 @@ class ProsilicaNode
if (!auto_adjust_stream_bytes_per_second_)
cam_->setAttribute("StreamBytesPerSecond", (tPvUint32)config.stream_bytes_per_second);

// Change the pixel format
if (config.pixel_format == "Rgb24" || config.pixel_format == "Bayer8")
{
if (cam_->hasAttribute("PixelFormat"))
{
ROS_DEBUG_STREAM("Setting camera pixel format to " << config.pixel_format);
cam_->setAttribute("PixelFormat", config.pixel_format);
}
else
{
ROS_WARN("rgb24 format is not supported by your camera");
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@tfoote tfoote Oct 29, 2013

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This should not be hard coded to error about rgb24.

}
}
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@ahendrix ahendrix Mar 4, 2014

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This should print a warning or an error if an invalid pixel format is specified. Take a look at how setting the streaming rate is handled.


/// @todo If exception thrown due to bad settings, will fail to start camera
if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
start();
Expand Down