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Feature/import updates from forked version #1

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2e64799
Start overhauling the spinnaker download script so it works with the …
civerachb-cpr Feb 3, 2020
9e0b5f9
Spinnaker driver now successfully downloads & builds
civerachb-cpr Feb 3, 2020
8ae03ff
Remove an unnecessary deb
civerachb-cpr Mar 13, 2020
b3e93f8
Create the directory if it doesn't exist
civerachb-cpr Mar 13, 2020
bdc886e
Merge pull request #42 from civerachb-cpr/rpsw-185
tonybaltovski Apr 6, 2020
fec86c4
Changed the download script to check for destination folder and moved…
tonybaltovski Apr 7, 2020
c484223
Removed opencv as depend. (#46)
tonybaltovski Apr 7, 2020
a43c417
Added Melodic to TravisCI. (#45)
tonybaltovski May 4, 2020
174961f
Fix/frame rate params (#20)
YoshuaNava May 4, 2020
317b34b
Add auto exposure ROI parameters (#52)
xqms Jun 8, 2020
9c00201
Update Spinnaker.cfg (#50)
Benefe Jun 8, 2020
fddc779
Feature: horizontal and vertical image reverse (#41)
fabianschilling Jun 24, 2020
fa1d908
Added support for Grasshopper3. Identical to Chameleon3, split into s…
romleiaj Jul 24, 2020
1a33cef
add option to set queue_size for ros publisher (#54)
furushchev Jul 24, 2020
445d6bc
increase maximum value of exposure_time/auto_exposure_time_upper_limi…
furushchev Jul 24, 2020
bf3b067
Add /opt/spinnaker to spinnaker discovery options (#63)
jccurtis Feb 11, 2021
82e78d9
Fixes SpinnakerCamera teardown (#16)
ebretl Feb 11, 2021
faf7cd6
Add new parameter to apply an offset to image time stamps (#56)
stwirth Feb 11, 2021
da37069
Branch to Support GigE Cameras (#79)
luis-camero Oct 29, 2021
a79c509
URDF Description, Diagnostics, ISP Enable, and Launch Files (#81)
luis-camero Dec 1, 2021
6f16c47
Merge branch 'kinetic-devel' into feature/import_updates_from_forked_…
Jan 20, 2022
dd97643
Delete package
Jan 20, 2022
6ac10dc
Fix build
Jan 20, 2022
db4ae91
Update parameters
Jan 20, 2022
2ddc805
Fix
Jan 20, 2022
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35 changes: 28 additions & 7 deletions cfg/Spinnaker.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -76,20 +76,24 @@ gen = ParameterGenerator()

# Name Type Reconfiguration level Description Default Min Max
gen.add("acquisition_frame_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "User controlled acquisition frame rate in Hertz (frames per second).", 25, 0, 120)
gen.add("acquisition_frame_rate_enable", bool_t, SensorLevels.RECONFIGURE_RUNNING, "Enables manual (true) and automatic (false) control of the aquisition frame rate", False)
gen.add("acquisition_frame_rate_enable", bool_t, SensorLevels.RECONFIGURE_RUNNING, "Enables manual (True) and automatic (False) control of the aquisition frame rate", False)


# Set Exposure
# Note: For the Auto Exposure feature, gain and/or exposure time must be set to Once or Continuous.
capture_modes = gen.enum([gen.const("AutoOff", str_t, "Off", ""),
gen.const("AutoOnce", str_t, "Once", ""),
gen.const("AutoContinuous", str_t, "Continuous", "")],
"Automatic mode: Off, Once, or Continuous.")
gen.add("exposure_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Sets the operation mode of the Exposure (Timed or TriggerWidth).", "Timed")
gen.add("exposure_auto", str_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the automatic exposure mode to: 'Off', 'Once' or 'Continuous'", "Continuous")
gen.add("exposure_auto", str_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the automatic exposure mode to: 'Off', 'Once' or 'Continuous'", "Continuous", edit_method=capture_modes)
gen.add("exposure_time", double_t, SensorLevels.RECONFIGURE_RUNNING, "Exposure time in microseconds when Exposure Mode is Timed and Exposure Auto is not Continuous.", 5000.0, 100.0, 40000)
gen.add("auto_exposure_time_upper_limit", double_t, SensorLevels.RECONFIGURE_RUNNING, "Upper Limit on Shutter Speed.", 5000.0, 100.0, 40000)


# Gain Settings
gen.add("gain_selector", str_t, SensorLevels.RECONFIGURE_RUNNING, "Selects which gain to control. The All selection is a total amplification across all channels.", "All")
gen.add("auto_gain", str_t, SensorLevels.RECONFIGURE_RUNNING, "Gain state control. (Off, Once, Continuous)", "Continuous")
gen.add("auto_gain", str_t, SensorLevels.RECONFIGURE_RUNNING, "Gain state control. (Off, Once, Continuous)", "Continuous", edit_method=capture_modes)
gen.add("gain", double_t, SensorLevels.RECONFIGURE_RUNNING, "Controls the amplification of the video signal in dB.", 0, -10, 30)

# Pan and Tilt not in Spinnaker Driver
Expand All @@ -113,7 +117,7 @@ gen.add("gamma", double_t, SensorLevels.RECON


# White Balance
gen.add("auto_white_balance", str_t, SensorLevels.RECONFIGURE_RUNNING, "White Balance compensates for color shifts caused by different lighting conditions.", "Continuous")
gen.add("auto_white_balance", str_t, SensorLevels.RECONFIGURE_RUNNING, "White Balance compensates for color shifts caused by different lighting conditions.", "Continuous", edit_method=capture_modes)
gen.add("white_balance_blue_ratio", double_t, SensorLevels.RECONFIGURE_RUNNING, "White balance blue component.", 800, 0, 1023)
gen.add("white_balance_red_ratio", double_t, SensorLevels.RECONFIGURE_RUNNING, "White balance red component.", 550, 0, 1023)

Expand Down Expand Up @@ -173,7 +177,8 @@ codings = gen.enum([gen.const("Mono8", str_t, "Mono8", ""),

"Image Color Coding: Format of the pixel provided by the camera.")

gen.add("image_format_color_coding", str_t, SensorLevels.RECONFIGURE_STOP, "Image Color coding", "Mono8", edit_method = codings)
gen.add("image_format_color_coding", str_t, SensorLevels.RECONFIGURE_STOP, "Image Color coding", "Mono8", edit_method = codings)
gen.add("isp_enable", bool_t, SensorLevels.RECONFIGURE_STOP, "Controls whether the image processing core is used for optional pixel format mode", True)


# Trigger parameters
Expand Down Expand Up @@ -287,8 +292,24 @@ line_modes = gen.enum([gen.const("Input", str_t, "Input", ""),

gen.add("line_mode", str_t, SensorLevels.RECONFIGURE_RUNNING, "Line Mode", "Input", edit_method = line_modes)

gen.add("reverse_x", bool_t, SensorLevels.RECONFIGURE_STOP, "Enables mirroring the image frame around the x axis", False)
gen.add("reverse_y", bool_t, SensorLevels.RECONFIGURE_STOP, "Enables mirroring the image frame around the y axis", False)
gen.add("image_format_x_reverse", bool_t, SensorLevels.RECONFIGURE_STOP, "Enables mirroring the image around the x axis", False)
gen.add("image_format_y_reverse", bool_t, SensorLevels.RECONFIGURE_STOP, "Enables mirroring the image around the y axis", False)

# Auto algorithm parameters
gen.add("auto_exposure_roi_offset_x", int_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure ROI X offset.", 0, 0, 65535)
gen.add("auto_exposure_roi_offset_y", int_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure ROI Y offset.", 0, 0, 65535)
gen.add("auto_exposure_roi_width", int_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure ROI width.", 0, 0, 65535)
gen.add("auto_exposure_roi_height", int_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure ROI height.", 0, 0, 65535)

auto_lighting_mode = gen.enum([
gen.const("Normal", str_t, "Normal", "Normal"),
gen.const("Frontlight", str_t, "Frontlight", "Front Lighting"),
gen.const("Backlight", str_t, "Backlight", "Back Lighting")
], "Auto algorithms lighting modes")
gen.add("auto_exposure_lighting_mode", str_t, SensorLevels.RECONFIGURE_RUNNING, "Auto exposure lighting mode.", "Normal", edit_method=auto_lighting_mode)

# Other
gen.add("time_offset", double_t, SensorLevels.RECONFIGURE_RUNNING, "Time offset to add to image time stamps.", 0.0, -5.0, 5.0)


exit(gen.generate(PACKAGE, "any_spinnaker_camera_driver", "Spinnaker"))
4 changes: 2 additions & 2 deletions cfg/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,14 +24,14 @@ spinnaker_camera_nodelet:
image_format_x_binning: 1
image_format_x_decimation: 1
image_format_x_offset: 0
image_format_x_reverse: false
image_format_y_binning: 1
image_format_y_decimation: 1
image_format_y_offset: 0
image_format_y_reverse: false
line_mode: Input
line_selector: Line0
line_source: Off
reverse_x: false
reverse_y: false
saturation: 100.0
saturation_enable: false
serial: 0
Expand Down
14 changes: 10 additions & 4 deletions cmake/DownloadSpinnaker.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,19 @@ function(download_spinnaker FLIR_LIB_VAR FLIR_INCLUDE_DIR_VAR)
message(FATAL_ERROR "Downloading libSpinnaker for non-linux systems not supported")
endif()

execute_process(
COMMAND lsb_release -cs
OUTPUT_VARIABLE OS_CODE_NAME
OUTPUT_STRIP_TRAILING_WHITESPACE)

include(cmake/TargetArch.cmake)
target_architecture(FLIR_ARCH)
message(STATUS "Running download_spinnaker script with arguments: ${FLIR_ARCH} ${CATKIN_DEVEL_PREFIX}/lib/any_spinnaker_camera_driver/ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}")
set(FLIR_DIR ${CMAKE_CURRENT_BINARY_DIR}/usr/lib)
set(DOWNLOAD_SCRIPT "${PROJECT_SOURCE_DIR}/cmake/download_spinnaker")

message(STATUS "Running download_spinnaker script with arguments: ${FLIR_ARCH} ${FLIR_DIR} ${OS_CODE_NAME}")
execute_process(
COMMAND ${DOWNLOAD_SCRIPT} ${FLIR_ARCH} "${CATKIN_DEVEL_PREFIX}/lib/any_spinnaker_camera_driver/"
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
set(${FLIR_LIB_VAR} "${CMAKE_CURRENT_BINARY_DIR}/usr/lib/libSpinnaker.so" PARENT_SCOPE)
COMMAND ${DOWNLOAD_SCRIPT} ${FLIR_ARCH} "${FLIR_DIR}" ${OS_CODE_NAME})
set(${FLIR_LIB_VAR} "${FLIR_DIR}/libSpinnaker.so" PARENT_SCOPE)
set(${FLIR_INCLUDE_DIR_VAR} "${CMAKE_CURRENT_BINARY_DIR}/usr/include/spinnaker" PARENT_SCOPE)
endfunction()
185 changes: 132 additions & 53 deletions cmake/download_spinnaker
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,10 @@
# Software License Agreement (BSD)
#
# @author Mike Purvis <mpurvis@clearpathrobotics.com>
# @author Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
# @copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
# @usage download_spinnaker {arch} {dir} {os-code-name}
# e.g. download_spinnaker x86_64 /path/to/somewhere xenial
#
# Redistribution and use in source and binary forms, with or without modification, are permitted provided that
# the following conditions are met:
Expand Down Expand Up @@ -37,82 +40,158 @@ import glob

logging.basicConfig(level=logging.INFO)

LOGIN_URL = 'https://www.ptgrey.com/login'
LOGIN_DATA = {
'Email': 'code@clearpathrobotics.com',
'Password': 'uNjRxoH6NMsJvi6hyPCH'
}
URL_TEMPLATE = URL_TEMPLATES = {
'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-1.27.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
'src': None # if we ever have non-deb archives that require manual extraction, those package URLS will go here.
}

ARCHS = {
'i386': (
'https://www.ptgrey.com/support/downloads/11047/',
'spinnaker-1.13.0.31-i386',
'libSpinnaker.so.1.13.0.31'),
'x86_64': (
'https://www.ptgrey.com/support/downloads/11048/',
'spinnaker-1.13.0.31-amd64',
'libSpinnaker.so.1.13.0.31'),
'armv7': (
'https://www.ptgrey.com/support/downloads/11046/',
'spinnaker-1.13.0.31-armhf',
'libSpinnaker.so.1.13.0.31'),
'armv8': (
'https://www.ptgrey.com/support/downloads/11045/',
'spinnaker-1.13.0.31-arm64',
'libSpinnaker.so.1.13.0.31')
'i386': {
'linux_arch': 'i386',
'current': '16.04',
'type': 'deb',
'folder_name': 'spinnaker-1.27.0.48-i386',
'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
'debs': [
'libspinnaker-1.27.0.48_i386.deb',
'libspinnaker-1.27.0.48_i386-dev.deb',
'libspinnaker-c-1.27.0.48_i386.deb',
'libspinnaker-c-1.27.0.48_i386-dev.deb',
'libspinvideo-1.27.0.48_i386.deb',
'libspinvideo-1.27.0.48_i386-dev.deb',
'libspinvideo-c-1.27.0.48_i386.deb',
'libspinvideo-c-1.27.0.48_i386-dev.deb',
'spinnaker-1.27.0.48_i386.deb',
'spinnaker-doc-1.27.0.48_i386.deb',
'spinupdate-1.27.0.48_i386.deb',
'spinupdate-1.27.0.48_i386-dev.deb',
'spinview-qt-1.27.0.48_i386.deb',
'spinview-qt-1.27.0.48_i386-dev.deb'
]
},
'x86_64': {
'linux_arch': 'amd64',
'current': '16.04',
'future': '18.04',
'type': 'deb',
'folder_name': 'spinnaker-1.27.0.48-amd64',
'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
'debs': [
'libspinnaker-1.27.0.48_amd64.deb',
'libspinnaker-1.27.0.48_amd64-dev.deb',
'libspinnaker-c-1.27.0.48_amd64.deb',
'libspinnaker-c-1.27.0.48_amd64-dev.deb',
'libspinvideo-1.27.0.48_amd64.deb',
'libspinvideo-1.27.0.48_amd64-dev.deb',
'libspinvideo-c-1.27.0.48_amd64.deb',
'libspinvideo-c-1.27.0.48_amd64-dev.deb',
'spinnaker-1.27.0.48_amd64.deb',
'spinnaker-doc-1.27.0.48_amd64.deb',
'spinupdate-1.27.0.48_amd64.deb',
'spinupdate-1.27.0.48_amd64-dev.deb',
'spinview-qt-1.27.0.48_amd64.deb',
'spinview-qt-1.27.0.48_amd64-dev.deb'
]
},
'armv7': {
'linux_arch': 'armhf',
'current': '16.04',
'type': 'deb',
'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
'folder_name': 'spinnaker-1.27.0.48_armhf',
'debs': [
'libspinnaker-1.27.0.48_armhf.deb',
'libspinnaker-1.27.0.48_armhf-dev.deb',
'libspinnaker-c-1.27.0.48_armhf.deb',
'libspinnaker-c-1.27.0.48_armhf-dev.deb',
'libspinvideo-1.27.0.48_armhf.deb',
'libspinvideo-1.27.0.48_armhf-dev.deb',
'libspinvideo-c-1.27.0.48_armhf.deb',
'libspinvideo-c-1.27.0.48_armhf-dev.deb',
'spinnaker-1.27.0.48_armhf.deb',
'spinnaker-doc-1.27.0.48_armhf.deb',
'spinupdate-1.27.0.48_armhf.deb',
'spinupdate-1.27.0.48_armhf-dev.deb',
'spinview-qt-1.27.0.48_armhf.deb',
'spinview-qt-1.27.0.48_armhf-dev.deb'
]
},
'armv8': {
'linux_arch': 'armh64',
'current': '16.04',
'future': '18.04',
'type': 'deb',
'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
'folder_name': 'spinnaker-1.27.0.48_arm64',
'debs': [
'libspinnaker-1.27.0.48_arm64.deb',
'libspinnaker-1.27.0.48_arm64-dev.deb',
'libspinnaker-c-1.27.0.48_arm64.deb',
'libspinnaker-c-1.27.0.48_arm64-dev.deb',
'libspinvideo-1.27.0.48_arm64.deb',
'libspinvideo-1.27.0.48_arm64-dev.deb',
'libspinvideo-c-1.27.0.48_arm64.deb',
'libspinvideo-c-1.27.0.48_arm64-dev.deb',
'spinnaker-1.27.0.48_arm64.deb',
'spinnaker-doc-1.27.0.48_arm64.deb',
'spinupdate-1.27.0.48_arm64.deb',
'spinupdate-1.27.0.48_arm64-dev.deb',
'spinview-qt-1.27.0.48_arm64.deb',
'spinview-qt-1.27.0.48_arm64-dev.deb'
]
}
}


OS_LIBRARY_VERSION = {
'jessie': 'current',
'xenial': 'current',
'bionic': 'future'
}

archive_url, folder_name, shared_library = ARCHS[sys.argv[1]]
arch = sys.argv[1]
destination_folder = sys.argv[2]
os_code_name = sys.argv[3]

os_version = OS_LIBRARY_VERSION[os_code_name]
archive_url = URL_TEMPLATES[ARCHS[arch]['type']].format(
arch=ARCHS[arch]['linux_arch'],
version=ARCHS[arch][os_version])
folder_name = ARCHS[arch]['folder_name']
shared_library = ARCHS[arch]['shared_library']


logging.info("CPU architecture is %s", arch)
logging.info("OS code name is %s", os_code_name)
logging.info("Destination folder is %s", destination_folder)

if not os.path.exists(os.path.join(os.getcwd(), "usr/lib/")):
if not os.path.exists(os.path.join(os.getcwd(), folder_name)):
logging.info("Logging into ptgrey.com.")
cj = cookielib.CookieJar()
opener = urllib2.build_opener(urllib2.HTTPCookieProcessor(cj))
opener.addheaders = [
('User-agent', 'Mozilla/5.0'),
('Referer', 'https://www.ptgrey.com')]
opener.open(LOGIN_URL, urllib.urlencode(LOGIN_DATA))

logging.info("Downloading SDK archive.")
logging.info("Downloading SDK archive from {0}...".format(archive_url))
resp = opener.open(archive_url)

logging.info("Unpacking tarball.")
with tarfile.open(mode="r:gz", fileobj=cStringIO.StringIO(resp.read())) as tar:
tar.extractall()

logging.info("Unpacking debs.")
debs = glob.glob(os.path.join(os.getcwd(), folder_name, "libspinvideoencoder-*.deb"))
debs += glob.glob(os.path.join(os.getcwd(), folder_name, "*spinnaker-*.deb"))
debs = glob.glob(os.path.join(os.getcwd(), folder_name, "*spinnaker-*.deb"))
unpack_dir = os.path.join(os.getcwd())
if not os.path.exists(unpack_dir):
os.makedirs(unpack_dir)
for deb in debs:
subprocess.call(['dpkg', '-x', deb, os.path.join(os.getcwd(), folder_name)])

# Fix for 1.13.0.31
os.remove(os.path.join(os.getcwd(), folder_name, "usr/lib/libspinnaker.so.1"))
os.symlink(shared_library, os.path.join(os.getcwd(), folder_name, "usr/lib/libSpinnaker.so.1"))
logging.info('Extracting {0}'.format(deb))
subprocess.call(['dpkg', '--extract', deb, unpack_dir])

if not os.path.exists(os.path.join(os.getcwd(), "usr")):
os.mkdir(os.path.join(os.getcwd(), "usr"))

# For every folder/file, copy it into the /usr folder we just created.
for filename in os.listdir(os.path.join(os.getcwd(), folder_name, "usr")):
if not os.path.exists(os.path.join(os.getcwd(), "usr", filename)):
shutil.move(os.path.join(os.getcwd(), folder_name, "usr", filename), os.path.join(os.getcwd(), "usr", filename))

# now we do some thing for XML files; copy them next to the catkin binary
xml_path = os.path.join(os.getcwd(), "usr/lib/")
xml_files = os.listdir(xml_path)

try:
# finally, copy the shared libraries into the output folder
src_file = os.path.join(unpack_dir, ARCHS[arch]['shared_library'])
logging.info('Copying shared library to {0}'.format(destination_folder))
if not os.path.exists(destination_folder):
os.makedirs(destination_folder)
except:
logging.info("Error XML folder either exists or can't be created.")

for files in xml_files:
if files.endswith(".xml"):
origin_file = os.path.join(xml_path, files)
print('Copying ' + origin_file + ' to ' + destination_folder)
shutil.copy(origin_file, destination_folder)
shutil.copyfile(src_file, os.path.join(destination_folder, 'libSpinnaker.so'))
1 change: 1 addition & 0 deletions include/any_spinnaker_camera_driver/SpinnakerCamera.h
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Expand Up @@ -56,6 +56,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <any_spinnaker_camera_driver/SpinnakerConfig.h>
#include "any_spinnaker_camera_driver/camera.h"
#include "any_spinnaker_camera_driver/cm3.h"
#include "any_spinnaker_camera_driver/gh3.h"
#include "any_spinnaker_camera_driver/set_property.h"

// Spinnaker SDK
Expand Down
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