Devel/versavis

README.md

@@ -14,6 +14,27 @@ Due to differences in parameter naming the configuration is separated from the m
 
 When contributing make sure the travis job suceeds and please use [roscpp_code_format](https://github.com/davetcoleman/roscpp_code_format) to format your code.
 
+## Increasing USB memory buffer
+From [Pointgrey](https://www.ptgrey.com/tan/10685#ConfiguringUSBFS)
+
+By default, Linux limits image capture to 2 MB. To capture images over 2 MB, extend the USBFS limit on how many buffers can be locked into the driver.
+
+You can check your current buffer limit with
+```
+cat /sys/module/usbcore/parameters/usbfs_memory_mb
+```
+
+For capturing larger images, a buffer of ~1000 MB is recommended. Set it permanently by replacing the corresponding line in `/etc/default/grub` with the following:
+```
+GRUB_CMDLINE_LINUX_DEFAULT="nomodeset quiet splash usbcore.usbfs_memory_mb=1000"
+
+```
+followed by
+```
+sudo update-grub
+```
+and reboot.
+
 ## Licence
 ROS-compatible Camera drivers originally provided by NREC, part of Carnegie Mellon University's robotics institute.
 These drives are included along with modifications of the standard ros image messages that enable HDR and physics based vision.

flir_camera_driver/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package flir_camera_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.3 (2018-09-25)
+------------------
+
 0.1.2 (2018-07-27)
 ------------------
 

flir_camera_driver/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>flir_camera_driver</name>
-  <version>0.1.2</version>
+  <version>0.1.3</version>
   <description>A set of drivers for Flir cameras based on the Spinnaker SDK.</description>
 
   <maintainer email="[email protected]">Michael Hosmar</maintainer>

image_exposure_msgs/CHANGELOG.rst

@@ -0,0 +1,35 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package image_exposure_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.12.2 (2016-09-30)
+-------------------
+
+0.12.1 (2015-11-06)
+-------------------
+
+0.12.0 (2015-04-22)
+-------------------
+
+0.11.0 (2014-11-07)
+-------------------
+
+0.10.0 (2014-08-18)
+-------------------
+
+0.9.2 (2014-07-13)
+------------------
+
+0.9.1 (2014-03-12)
+------------------
+
+0.9.0 (2014-02-26)
+------------------
+
+0.0.2 (2014-02-26)
+------------------
+
+0.0.1 (2014-02-23)
+------------------
+* Initial release to Hydro
+* Contributors: Chad Rockey, Dave Bradley, Mike Purvis

image_exposure_msgs/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(image_exposure_msgs)
+
+find_package(catkin REQUIRED COMPONENTS statistics_msgs std_msgs message_generation)
+
+# Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  ExposureSequence.msg
+  ImageExposureStatistics.msg
+  SequenceExposureStatistics.msg
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  statistics_msgs
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS statistics_msgs std_msgs message_runtime
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)

image_exposure_msgs/msg/ExposureSequence.msg

@@ -0,0 +1,7 @@
+# exposure sequence (for mult-exposure HDR)
+Header header
+uint32[]  shutter    	     # Time duration (microseconds) the shutter was open.
+float32 gain                 # Gain (in dB) applied to the images in the sequence.
+uint16 white_balance_blue    # White balance in blue.
+uint16 white_balance_red     # White balance in red.
+

image_exposure_msgs/msg/ImageExposureStatistics.msg

@@ -0,0 +1,18 @@
+# message for exposure statistics reported a single image
+time stamp         # image time stamp
+string time_reference # The name of the reference clock for this message's timestamp.
+float32 shutterms  # shutter durations in ms
+float32 gaindb     # gain in decibels
+# pixel exposure and latency statistics
+uint32 underExposed # number of pixels underexposed
+uint32 overExposed  # number of pixels overexposed
+statistics_msgs/Stats1D pixelVal   # distribution of pixel values in the image
+statistics_msgs/Stats1D pixelAge   # distribution of pixel ages in frames
+# irradiance = pixelval/(shutterTime*10^(gaindb/10.0))
+float64 meanIrradiance
+float64 minMeasurableIrradiance
+float64 maxMeasurableIrradiance
+float64 minObservedIrradiance
+float64 maxObservedIrradiance
+
+

image_exposure_msgs/msg/SequenceExposureStatistics.msg

@@ -0,0 +1,10 @@
+# exposure statistics for a multi-exposure HDR sequence
+ImageExposureStatistics[] exposures
+uint32 underExposed 		# number of pixels underexposed in longest exposure
+uint32 overExposed  		# number of pixels overexposed in shortest
+float64 meanIrradiance 		# mean irradiance of all properly exposed pixels in all images in the sequence
+float64 minMeasurableIrradiance
+float64 maxMeasurableIrradiance
+float64 minObservedIrradiance
+float64 maxObservedIrradiance
+

image_exposure_msgs/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>image_exposure_msgs</name>
+  <version>0.12.2</version>
+  <description>Messages related to the Point Grey camera driver.</description>
+
+  <maintainer email="[email protected]">Mike Purvis</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/pointgrey_camera_driver</url>
+
+  <author>Chad Rockey</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>statistics_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>statistics_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+  <export></export>
+</package>

spinnaker_camera_driver/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package spinnaker_camera_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.3 (2018-09-25)
+------------------
+* Fix install targets when Spinnaker is installed locally. Tabs in FindSpinnaker.
+* Add missing target (Cm3) and switch to find_package script. (`#11 <https://github.com/ros-drivers/flir_camera_driver/issues/11>`_)
+  * Add missing target (Cm3) and switch to find_package script.
+  * Clean up message.
+* Adding support of feeding some camera diagnostics to the diagnostic a… (`#4 <https://github.com/ros-drivers/flir_camera_driver/issues/4>`_)
+  * Adding support of feeding some camera diagnostics to the diagnostic aggregator
+  * Creating a seperate diagnostics launch example
+* Fix null conversion and unsigned comparison Warnings.
+* Contributors: Helen Oleynikova, Michael Hosmar, mlowe-ascent
+
 0.1.2 (2018-07-27)
 ------------------
 * Add ARM Build Support (`#3 <https://github.com/ros-drivers/flir_camera_driver/issues/3>`_)

spinnaker_camera_driver/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Wextra")
 
@@ -8,17 +8,18 @@ project(spinnaker_camera_driver)
 find_package(catkin REQUIRED COMPONENTS
   camera_info_manager diagnostic_updater dynamic_reconfigure
   image_exposure_msgs image_transport nodelet roscpp sensor_msgs
-  wfov_camera_msgs
+  wfov_camera_msgs image_numbered_msgs
 )
 
 find_package(OpenCV REQUIRED)
 
 generate_dynamic_reconfigure_options(
-  cfg/Spinnaker.cfg
+  #cfg/Spinnaker.cfg
+  cfg/SpinnakerBFS.cfg
 )
 
 catkin_package(CATKIN_DEPENDS
-  image_exposure_msgs nodelet roscpp sensor_msgs wfov_camera_msgs
+  image_exposure_msgs nodelet roscpp sensor_msgs wfov_camera_msgs image_numbered_msgs
   DEPENDS OpenCV
 )
 
@@ -28,12 +29,13 @@ catkin_package(CATKIN_DEPENDS
 # the Point Grey EULA prohibits redistributing the headers or the packages which
 # contains them. We work around this by downloading the archive directly from
 # their website during this step in the build process.
-find_library(Spinnaker_LIBRARIES Spinnaker)
-# if(NOT Spinnaker_LIBRARIES)
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+find_package(Spinnaker QUIET)
+if(NOT Spinnaker_FOUND)
   message(STATUS "libSpinnaker not found in system library path")
   include(cmake/DownloadSpinnaker.cmake)
   download_spinnaker(Spinnaker_LIBRARIES Spinnaker_INCLUDE_DIRS)
-# endif()
+endif()
 
 message(STATUS "libSpinnaker library: ${Spinnaker_LIBRARIES}")
 message(STATUS "libSpinnaker include: ${Spinnaker_INCLUDE_DIRS}")
@@ -52,7 +54,8 @@ target_link_libraries(SpinnakerCameraLib
                       Camera
                       ${Spinnaker_LIBRARIES}
                       ${catkin_LIBRARIES}
-                      ${OpenCV_LIBRARIES})
+                      ${OpenCV_LIBRARIES}
+                      usb-1.0)
 
 
 # Test Executable for Spinnaker
@@ -63,35 +66,37 @@ add_executable(spinnaker_test_node
 target_link_libraries(spinnaker_test_node
   SpinnakerCameraLib
   ${catkin_LIBRARIES}
+  usb-1.0
 )
 
 
 add_dependencies(SpinnakerCameraLib ${PROJECT_NAME}_gencfg)
 
 
 add_library(Camera src/camera.cpp)
-target_link_libraries(Camera ${catkin_LIBRARIES})
+target_link_libraries(Camera ${catkin_LIBRARIES} usb-1.0)
 add_dependencies(Camera ${PROJECT_NAME}_gencfg)
 
 add_library(Cm3 src/cm3.cpp)
-target_link_libraries(Cm3 Camera ${catkin_LIBRARIES})
+target_link_libraries(Cm3 Camera ${catkin_LIBRARIES} usb-1.0)
 add_dependencies(Cm3 ${PROJECT_NAME}_gencfg)
 
 add_library(Diagnostics src/diagnostics.cpp)
-target_link_libraries(Diagnostics Camera SpinnakerCameraLib ${catkin_LIBRARIES})
+target_link_libraries(Diagnostics Camera SpinnakerCameraLib ${catkin_LIBRARIES} usb-1.0)
 add_dependencies(Diagnostics ${PROJECT_NAME}_gencfg)
 
 add_library(SpinnakerCameraNodelet src/nodelet.cpp)
-target_link_libraries(SpinnakerCameraNodelet Diagnostics SpinnakerCameraLib Camera Cm3 ${catkin_LIBRARIES})
+target_link_libraries(SpinnakerCameraNodelet Diagnostics SpinnakerCameraLib Camera Cm3 ${catkin_LIBRARIES} usb-1.0)
 
 add_executable(spinnaker_camera_node src/node.cpp)
-target_link_libraries(spinnaker_camera_node SpinnakerCameraLib ${catkin_LIBRARIES})
+target_link_libraries(spinnaker_camera_node SpinnakerCameraLib ${catkin_LIBRARIES} usb-1.0)
 set_target_properties(spinnaker_camera_node PROPERTIES OUTPUT_NAME camera_node PREFIX "")
 
 install(TARGETS
   SpinnakerCameraLib
   SpinnakerCameraNodelet
   Camera
+  Cm3
   Diagnostics
   spinnaker_camera_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -101,8 +106,16 @@ install(TARGETS
 
 # Redistributing the flycapture .so file is permitted by the SDK EULA:
 # http://www.ptgrey.com/support/kb/data/PGR-FlyCap-SDK-LA.pdf
-install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/usr/lib/ DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-         PATTERN libQt* EXCLUDE)
+if(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/usr/lib)
+  install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/usr/lib/ DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+           PATTERN libQt* EXCLUDE)
+else()
+  get_filename_component(Spinnaker_LIB_DIR ${Spinnaker_LIBRARIES} DIRECTORY)
+  file(READ ${PROJECT_SOURCE_DIR}/cmake/install_files filenames)
+  foreach(filename ${filenames})
+    install(FILES ${Spinnaker_LIB_DIR}/${filename} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  endforeach()
+endif()
 
 install(FILES nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )