// Try to capture an image.
void imageTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Image Capture Test";
try {
if (trigger_mode_ != prosilica::Software) {
tPvUint32 start_completed, current_completed;
cam_->getAttribute("StatFramesCompleted", start_completed);
for (int i = 0; i < 6; ++i) {
boost::this_thread::sleep(boost::posix_time::millisec(500));
cam_->getAttribute("StatFramesCompleted", current_completed);
if (current_completed > start_completed) {
status.summary(0, "Captured a frame, see diagnostics for detailed stats");
return;
}
}
// Give up after 3s
status.summary(2, "No frames captured over 3s in freerun mode");
return;
}
// In software triggered mode, try to grab a frame
cam_->setRoiToWholeFrame();
tPvFrame* frame = cam_->grab(500);
if (frame)
{
status.summary(0, "Successfully triggered a frame capture");
}
else
{
status.summary(2, "Attempted to grab a frame, but received NULL");
}
}
catch (prosilica::ProsilicaException &e) {
status.summary(2, e.what());
}
}
void packetErrorStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
{
unsigned long erroneous;
cam_->getAttribute("StatPacketsErroneous", erroneous);
if (erroneous == 0) {
status.summary(0, "No erroneous packets");
} else {
status.summary(2, "Possible camera hardware failure");
}
status.add("Erroneous Packets", erroneous);
}
void normalizeCallback(tPvFrame* frame)
{
unsigned long exposure;
cam_->getAttribute("ExposureValue", exposure);
//ROS_WARN("Exposure value = %u", exposure);
if (exposure == last_exposure_value_)
consecutive_stable_exposures_++;
else {
last_exposure_value_ = exposure;
consecutive_stable_exposures_ = 0;
}
}
void frameStatistics(diagnostic_updater::DiagnosticStatusWrapper& status)
{
// Get stats from camera driver
float frame_rate;
unsigned long completed, dropped;
cam_->getAttribute("StatFrameRate", frame_rate);
cam_->getAttribute("StatFramesCompleted", completed);
cam_->getAttribute("StatFramesDropped", dropped);
// Compute rolling totals, percentages
frames_completed_acc_.add(completed - frames_completed_total_);
frames_completed_total_ = completed;
unsigned long completed_recent = frames_completed_acc_.sum();
frames_dropped_acc_.add(dropped - frames_dropped_total_);
frames_dropped_total_ = dropped;
unsigned long dropped_recent = frames_dropped_acc_.sum();
float recent_ratio = float(completed_recent) / (completed_recent + dropped_recent);
float total_ratio = float(completed) / (completed + dropped);
// Set level based on recent % completed frames
if (dropped_recent == 0) {
status.summary(0, "No dropped frames");
}
else if (recent_ratio > 0.8f) {
status.summary(1, "Some dropped frames");
}
else {
status.summary(2, "Excessive proportion of dropped frames");
}
status.add("Camera Frame Rate", frame_rate);
status.add("Recent % Frames Completed", recent_ratio * 100.0f);
status.add("Overall % Frames Completed", total_ratio * 100.0f);
status.add("Frames Completed", completed);
status.add("Frames Dropped", dropped);
}
// Try to load camera name, etc. Should catch gross communication failure.
void infoTest(diagnostic_updater::DiagnosticStatusWrapper& status)
{
status.name = "Info Test";
self_test_->setID(hw_id_);
std::string camera_name;
try {
cam_->getAttribute("CameraName", camera_name);
status.summary(0, "Connected to Camera");
status.add("Camera Name", camera_name);
}
catch (prosilica::ProsilicaException& e) {
status.summary(2, e.what());
}
}
bool processFrame(tPvFrame* frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)
{
/// @todo Better trigger timestamp matching
if ((trigger_mode_ == prosilica::SyncIn1 || trigger_mode_ == prosilica::SyncIn2) && !trig_time_.isZero()) {
img.header.stamp = cam_info.header.stamp = trig_time_;
trig_time_ = ros::Time(); // Zero
}
else {
/// @todo Match time stamp from frame to ROS time?
img.header.stamp = cam_info.header.stamp = ros::Time::now();
}
/// @todo Binning values retrieved here may differ from the ones used to actually
/// capture the frame! Maybe need to clear queue when changing binning and/or
/// stuff binning values into context?
tPvUint32 binning_x = 1, binning_y = 1;
if (cam_->hasAttribute("BinningX")) {
cam_->getAttribute("BinningX", binning_x);
cam_->getAttribute("BinningY", binning_y);
}
// Binning averages bayer samples, so just call it mono8 in that case
if (frame->Format == ePvFmtBayer8 && (binning_x > 1 || binning_y > 1))
frame->Format = ePvFmtMono8;
if (!frameToImage(frame, img))
return false;
// Set the operational parameters in CameraInfo (binning, ROI)
cam_info.binning_x = binning_x;
cam_info.binning_y = binning_y;
// ROI in CameraInfo is in unbinned coordinates, need to scale up
cam_info.roi.x_offset = frame->RegionX * binning_x;
cam_info.roi.y_offset = frame->RegionY * binning_y;
cam_info.roi.height = frame->Height * binning_y;
cam_info.roi.width = frame->Width * binning_x;
cam_info.roi.do_rectify = (frame->Height != sensor_height_ / binning_y) ||
(frame->Width != sensor_width_ / binning_x);
count_++;
return true;
}
void packetStatistics(diagnostic_updater::DiagnosticStatusWrapper& status)
{
// Get stats from camera driver
unsigned long received, missed, requested, resent;
cam_->getAttribute("StatPacketsReceived", received);
cam_->getAttribute("StatPacketsMissed", missed);
cam_->getAttribute("StatPacketsRequested", requested);
cam_->getAttribute("StatPacketsResent", resent);
// Compute rolling totals, percentages
packets_received_acc_.add(received - packets_received_total_);
packets_received_total_ = received;
unsigned long received_recent = packets_received_acc_.sum();
packets_missed_acc_.add(missed - packets_missed_total_);
packets_missed_total_ = missed;
unsigned long missed_recent = packets_missed_acc_.sum();
float recent_ratio = float(received_recent) / (received_recent + missed_recent);
float total_ratio = float(received) / (received + missed);
if (missed_recent == 0) {
status.summary(0, "No missed packets");
}
else if (recent_ratio > 0.99f) {
status.summary(1, "Some missed packets");
}
else {
status.summary(2, "Excessive proportion of missed packets");
}
// Adjust data rate
unsigned long data_rate = 0;
cam_->getAttribute("StreamBytesPerSecond", data_rate);
unsigned long max_data_rate = cam_->getMaxDataRate();
if (auto_adjust_stream_bytes_per_second_)
{
if (max_data_rate < prosilica::Camera::GIGE_MAX_DATA_RATE)
status.mergeSummary(1, "Max data rate is lower than expected for a GigE port");
try
{
/// @todo Something that doesn't oscillate
float multiplier = 1.0f;
if (recent_ratio == 1.0f)
{
multiplier = 1.1f;
}
else if (recent_ratio < 0.99f)
{
multiplier = 0.9f;
}
if (multiplier != 1.0f)
{
unsigned long new_data_rate = std::min((unsigned long)(multiplier * data_rate + 0.5), max_data_rate);
new_data_rate = std::max(new_data_rate, max_data_rate/1000);
if (data_rate != new_data_rate)
{
data_rate = new_data_rate;
cam_->setAttribute("StreamBytesPerSecond", data_rate);
ROS_DEBUG("Changed data rate to %lu bytes per second", data_rate);
}
}
}
catch (prosilica::ProsilicaException &e)
{
if (e.error_code == ePvErrUnplugged)
throw;
ROS_ERROR("Exception occurred: '%s'\n"
"Possible network issue. Attempting to reset data rate to the current maximum.",
e.what());
data_rate = max_data_rate;
cam_->setAttribute("StreamBytesPerSecond", data_rate);
}
}
status.add("Recent % Packets Received", recent_ratio * 100.0f);
status.add("Overall % Packets Received", total_ratio * 100.0f);
status.add("Received Packets", received);
status.add("Missed Packets", missed);
status.add("Requested Packets", requested);
status.add("Resent Packets", resent);
status.add("Data Rate (bytes/s)", data_rate);
status.add("Max Data Rate (bytes/s)", max_data_rate);
}
void configure(Config& config, uint32_t level)
{
ROS_DEBUG("Reconfigure request received");
if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
stop();
// Trigger mode
if (config.trigger_mode == "streaming") {
trigger_mode_ = prosilica::Freerun;
/// @todo Tighter bound than this minimal check
desired_freq_ = 1; // make sure we get _something_
}
else if (config.trigger_mode == "syncin1") {
trigger_mode_ = prosilica::SyncIn1;
desired_freq_ = config.trig_rate;
}
else if (config.trigger_mode == "syncin2") {
trigger_mode_ = prosilica::SyncIn2;
desired_freq_ = config.trig_rate;
}
//#if 0
else if (config.trigger_mode == "fixedrate") {
//ROS_DEBUG("Fixed rate not supported yet implementing software");
trigger_mode_ = prosilica::FixedRate;
// ROS_ERROR("Invalid trigger mode '%s' in reconfigure request", config.trigger_mode.c_str());
///@todo add the fixed rate implementation
cam_->setAttribute("FrameRate",(tPvFloat32)config.fixed_rate);//1.0;//config.fixed_rate;
}
//#endif
else if (config.trigger_mode == "polled") {
trigger_mode_ = prosilica::Software;
desired_freq_ = 0;
}
else {
ROS_ERROR("Invalid trigger '%s' in reconfigure request", config.trigger_mode.c_str());
}
trig_timestamp_topic_ = config.trig_timestamp_topic;
// Exposure
if (config.auto_exposure)
{
cam_->setExposure(0, prosilica::Auto);
if (cam_->hasAttribute("ExposureAutoMax"))
{
tPvUint32 us = config.exposure_auto_max*1000000. + 0.5;
cam_->setAttribute("ExposureAutoMax", us);
}
if (cam_->hasAttribute("ExposureAutoTarget"))
cam_->setAttribute("ExposureAutoTarget", (tPvUint32)config.exposure_auto_target);
}
else {
unsigned us = config.exposure*1000000. + 0.5;
cam_->setExposure(us, prosilica::Manual);
}
// Gain
if (config.auto_gain) {
if (cam_->hasAttribute("GainAutoMax"))
{
cam_->setGain(0, prosilica::Auto);
cam_->setAttribute("GainAutoMax", (tPvUint32)config.gain_auto_max);
cam_->setAttribute("GainAutoTarget", (tPvUint32)config.gain_auto_target);
}
else {
tPvUint32 major, minor;
cam_->getAttribute("FirmwareVerMajor", major);
cam_->getAttribute("FirmwareVerMinor", minor);
ROS_WARN("Auto gain not available for this camera. Auto gain is available "
"on firmware versions 1.36 and above. You are running version %u.%u.",
(unsigned)major, (unsigned)minor);
config.auto_gain = false;
}
}
else
cam_->setGain(config.gain, prosilica::Manual);
// White balance
if (config.auto_whitebalance) {
if (cam_->hasAttribute("WhitebalMode"))
cam_->setWhiteBalance(0, 0, prosilica::Auto);
else {
ROS_WARN("Auto white balance not available for this camera.");
config.auto_whitebalance = false;
}
}
else
cam_->setWhiteBalance(config.whitebalance_blue, config.whitebalance_red, prosilica::Manual);
// Binning configuration
if (cam_->hasAttribute("BinningX")) {
tPvUint32 max_binning_x, max_binning_y, dummy;
PvAttrRangeUint32(cam_->handle(), "BinningX", &dummy, &max_binning_x);
PvAttrRangeUint32(cam_->handle(), "BinningY", &dummy, &max_binning_y);
config.binning_x = std::min(config.binning_x, (int)max_binning_x);
config.binning_y = std::min(config.binning_y, (int)max_binning_y);
cam_->setBinning(config.binning_x, config.binning_y);
}
else if (config.binning_x > 1 || config.binning_y > 1)
{
ROS_WARN("Binning not available for this camera.");
config.binning_x = config.binning_y = 1;
}
// Region of interest configuration
// Make sure ROI fits in image
config.x_offset = std::min(config.x_offset, (int)sensor_width_ - 1);
config.y_offset = std::min(config.y_offset, (int)sensor_height_ - 1);
config.width = std::min(config.width, (int)sensor_width_ - config.x_offset);
config.height = std::min(config.height, (int)sensor_height_ - config.y_offset);
// If width or height is 0, set it as large as possible
int width = config.width ? config.width : sensor_width_ - config.x_offset;
int height = config.height ? config.height : sensor_height_ - config.y_offset;
// Adjust full-res ROI to binning ROI
/// @todo Replicating logic from polledCallback
int x_offset = config.x_offset / config.binning_x;
int y_offset = config.y_offset / config.binning_y;
unsigned int right_x = (config.x_offset + width + config.binning_x - 1) / config.binning_x;
unsigned int bottom_y = (config.y_offset + height + config.binning_y - 1) / config.binning_y;
// Rounding up is bad when at max resolution which is not divisible by the amount of binning
right_x = std::min(right_x, (unsigned)(sensor_width_ / config.binning_x));
bottom_y = std::min(bottom_y, (unsigned)(sensor_height_ / config.binning_y));
width = right_x - x_offset;
height = bottom_y - y_offset;
cam_->setRoi(x_offset, y_offset, width, height);
// TF frame
img_.header.frame_id = cam_info_.header.frame_id = config.frame_id;
// Normally the node adjusts the bandwidth used by the camera during diagnostics, to use as
// much as possible without dropping packets. But this can create interference if two
// cameras are on the same switch, e.g. for stereo. So we allow the user to set the bandwidth
// directly.
auto_adjust_stream_bytes_per_second_ = config.auto_adjust_stream_bytes_per_second;
if (!auto_adjust_stream_bytes_per_second_)
cam_->setAttribute("StreamBytesPerSecond", (tPvUint32)config.stream_bytes_per_second);
/// @todo If exception thrown due to bad settings, will fail to start camera
if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
start();
}
