added target_gray_value to params and launch file, fixed dynamic reconfigure to make changes for all cameras instead of just master cam, dynamic reconfigure now loads params in nodelet/node namspace correctly, variable names changed for dynamic recfg server and target grayvalue

Author: mithundiddi

README.md

@@ -66,6 +66,8 @@ 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.
+* ~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.
 * ~frames (int, default: 50)  
   Number of frames to save/view 0=ON
 * ~live (bool, default: false)  
@@ -103,11 +105,11 @@ This is the names that would be given to the cameras for filenames and rostopics
 
 
 ### Dynamic Reconfigure parameters
-* ~target_grey_val (double)
+* ~target_grey_value (double)
   Target Grey Value is a parameter that helps to compensate for various lighting conditions by adjusting brightness to achieve optimal imaging results. The value is linear and is a percentage of the maximum pixel value.
   Explained in detail at [FLIR webpage](https://www.flir.com/support-center/iis/machine-vision/application-note/using-auto-exposure-in-blackfly-s/).
 
-  Setting target_grey_val invokes setting AutoExposureTargetGreyValueAuto to 'off' and AutoExposureTargetGreyValue is set to target_grey_val.
+  Setting target_grey_value invokes setting AutoExposureTargetGreyValueAuto to 'off' and AutoExposureTargetGreyValue is set to target_grey_value.
 * ~exposure_time (int, default= 0, 0:auto)
   Exposure time for the sensor.
   When Exposure time is set within minimum and maximum exposure time limits(varies with camera model), ExposureAuto is set to 'off' and ExposureTime is set to exposure_time param value. 

cfg/spinnaker_cam.cfg

@@ -6,7 +6,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 
-gen.add("target_grey_val", double_t, 1, "Set Target Grey Value", 50, 4, 90)
+gen.add("target_grey_value", double_t, 1, "Set Target Grey Value", 50, 4, 90)
 gen.add("exposure_time", int_t, 2, "Set Exposure time (0:auto)", 0, 0, 15000)
 
 

include/spinnaker_sdk_camera_driver/capture.h

@@ -102,6 +102,7 @@ namespace acquisition {
         string dump_img_;
         string ext_;
         float exposure_time_;
+        double target_grey_value_;
         // int decimation_;
 
         int soft_framerate_; // Software (ROS) frame rate

launch/acquisition.launch

@@ -5,7 +5,8 @@
   <!-- acquisition spinnaker params-->
   <arg name="binning"		    default="1"	doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
   <arg name="color"		        default="false"	doc="Should color images be used (only works on models that support color images)"/>
-  <arg name="exposure_time"     default="0"	doc="Exposure setting for cameras"/>
+  <arg name="exposure_time"     default="0"	doc="Exposure_time setting for cameras"/>
+  <arg name="target_grey_value"   default="0"   doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
   <arg name="frames"            default="3400"	doc="Numer of frames to save/view 0=ON"/>
   <arg name="live"              default="false"	doc="Show images on screen GUI"/>
   <arg name="live_grid"         default="false"	doc="Show images on screen GUI in a grid"/>
@@ -37,6 +38,7 @@
 
     <!-- Load parameters onto server using argument or default values above -->
     <param name="exposure_time"     value="$(arg exposure_time)" />
+    <param name="target_grey_value" value="$(arg target_grey_value)" />
     <param name="binning"           value="$(arg binning)" />
     <param name="color"             value="$(arg color)" />
     <param name="frames"            value="$(arg frames)" />

launch/acquisition_node.launch

@@ -6,7 +6,8 @@
 
   <arg name="binning"		    default="1"	doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
   <arg name="color"		        default="false"	doc="Should color images be used (only works on models that support color images)"/>
-  <arg name="exposure_time"               default="0"	doc="Exposure setting for cameras"/>
+  <arg name="exposure_time"     default="0" doc="Exposure_time setting for cameras"/>
+  <arg name="target_grey_value"   default="0"   doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
   <arg name="frames"            default="3400"	doc="Numer of frames to save/view 0=ON"/>
   <arg name="live"              default="false"	doc="Show images on screen GUI"/>
   <arg name="live_grid"         default="false"	doc="Show images on screen GUI in a grid"/>
@@ -30,6 +31,7 @@
 
     <!-- Load parameters onto server using argument or default values above -->
     <param name="exposure_time"     value="$(arg exposure_time)" />
+    <param name="target_grey_value" value="$(arg target_grey_value)" />
     <param name="binning"           value="$(arg binning)" />
     <param name="color"             value="$(arg color)" />
     <param name="frames"            value="$(arg frames)" />

launch/nodelet_subscriber_example.launch

@@ -5,7 +5,8 @@
   <!-- acquisition spinnaker params-->
   <arg name="binning"           default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
   <arg name="color"             default="false" doc="Should color images be used (only works on models that support color images)"/>
-  <arg name="exposure_time"               default="0" doc="Exposure setting for cameras"/>
+  <arg name="exposure_time"     default="0" doc="Exposure_time setting for cameras"/>
+  <arg name="target_grey_value"   default="0"   doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
   <arg name="frames"            default="3400"  doc="Numer of frames to save/view 0=ON"/>
   <arg name="live"              default="false" doc="Show images on screen GUI"/>
   <arg name="live_grid"         default="false" doc="Show images on screen GUI in a grid"/>
@@ -39,6 +40,7 @@
 
     <!-- Load parameters onto server using argument or default values above -->
     <param name="exposure_time"     value="$(arg exposure_time)" />
+    <param name="target_grey_value" value="$(arg target_grey_value)" />
     <param name="binning"           value="$(arg binning)" />
     <param name="color"             value="$(arg color)" />
     <param name="frames"            value="$(arg frames)" />

nodelet_plugins.xml

@@ -1,12 +1,12 @@
 <library path="lib/libcapture_nodelet">
   <class name="acquisition/capture_nodelet" type="acquisition::capture_nodelet" base_class_type="nodelet::Nodelet">
   <description>
-  This is my nodelet.
+  Nodelet for image acquisition using spinnaker sdk
   </description>
   </class>
   <class name="acquisition/subscriber_nodelet" type="acquisition::subscriber_nodelet" base_class_type="nodelet::Nodelet">
     <description>
-      This is my nodelet.
+      Example Subscriber nodelet demonstrates subscribing to acquisition/capture_nodelet and display delay time w.r.t imagemsg.header.stamp
     </description>
   </class>
 </library>

params/multi-cam_example.yaml

@@ -16,7 +16,7 @@ binning: 2 # going from 2 to 1 requires cameras to be unplugged and replugged
 color: true
 # frames: 50
 soft_framerate: 10 # this frame rate reflects to the software frame rate set using ros::rate
-exp: 0
+exposure_time: 0
 skip: 5
 
 #Camera info message details

params/test_params.yaml

@@ -1,9 +1,7 @@
 cam_ids:
 - 18080155
-#- 17197547
 cam_aliases:
 - cam0
-#- cam1
 master_cam: 18080155
 skip: 20
 delay: 1.0
@@ -25,18 +23,14 @@ image_height: 1536
 image_width: 2048
 distortion_coeffs:
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
-#- [-0.06001035588294054, 0.3466585291091072, -1.0932356940133992, 3.4511959617065253]
 
 
 #specified as [fx  0 cx 0 fy cy 0  0  1]
 intrinsic_coeffs:
 - [1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]
-#- [1872.1392958276606, 0.0, 583.2925844388025, 0.0, 1872.6168324818198, 483.72597760530056, 0.0, 0.0, 1.0]
 
 rectification_coeffs:
 - [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-#- [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
 
 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]
-#- [703.910323, 0.000000, 815.113302, 0.000000, 0.000000, 958.319231, 636.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

src/capture.cpp

@@ -435,6 +435,12 @@ void acquisition::Capture::read_parameters() {
         else ROS_INFO("  'exposure_time'=%0.f, Setting autoexposure",exposure_time_);
     } else ROS_WARN("  'exposure_time' Parameter not set, using default behavior: Automatic Exposure ");
 
+    if (nh_pvt_.getParam("target_grey_value", target_grey_value_)){
+        if (target_grey_value_ >0) ROS_INFO("  target_grey_value set to: %.1f",target_grey_value_);
+        else ROS_INFO("  'target_grey_value'=%0.f, Setting AutoExposureTargetGreyValueAuto to Continuous/ auto",target_grey_value_);} 
+    else ROS_WARN("  'target_grey_value' Parameter not set, using default behavior: AutoExposureTargetGreyValueAuto to auto");
+
+
     if (nh_pvt_.getParam("binning", binning_)){
         if (binning_ >0) ROS_INFO("  Binning set to: %d",binning_);
         else {
@@ -611,7 +617,13 @@ void acquisition::Capture::init_cameras(bool soft = false) {
                 } else {
                     cams[i].setEnumValue("ExposureAuto", "Continuous");
                 }
-                
+                if (target_grey_value_ > 4.0) {
+                    cams[i].setEnumValue("AutoExposureTargetGreyValueAuto", "Off");
+                    cams[i].setFloatValue("AutoExposureTargetGreyValue", target_grey_value_);
+                } else {
+                    cams[i].setEnumValue("AutoExposureTargetGreyValueAuto", "Continuous");
+                }
+
                 // cams[i].setIntValue("DecimationHorizontal", decimation_);
                 // cams[i].setIntValue("DecimationVertical", decimation_);
                 // cams[i].setFloatValue("AcquisitionFrameRate", 5.0);
@@ -1177,20 +1189,28 @@ void acquisition::Capture::dynamicReconfigureCallback(spinnaker_sdk_camera_drive
 
     ROS_INFO_STREAM("Dynamic Reconfigure: Level : " << level);
     if(level == 1 || level ==3){
-        ROS_INFO_STREAM("Target grey value : " << config.target_grey_val);
-        cams[MASTER_CAM_].setEnumValue("AutoExposureTargetGreyValueAuto", "Off");
-        cams[MASTER_CAM_].setFloatValue("AutoExposureTargetGreyValue", config.target_grey_val);
+        ROS_INFO_STREAM("Target grey value : " << config.target_grey_value);
+        for (int i = numCameras_-1 ; i >=0 ; i--) {
+            
+            cams[i].setEnumValue("AutoExposureTargetGreyValueAuto", "Off");
+            cams[i].setFloatValue("AutoExposureTargetGreyValue", config.target_grey_value);
+        }
     }
     if (level == 2 || level ==3){
         ROS_INFO_STREAM("Exposure "<<config.exposure_time);
         if(config.exposure_time > 0){
-            cams[MASTER_CAM_].setEnumValue("ExposureAuto", "Off");
-            cams[MASTER_CAM_].setEnumValue("ExposureMode", "Timed");
-            cams[MASTER_CAM_].setFloatValue("ExposureTime", config.exposure_time);
+            for (int i = numCameras_-1 ; i >=0 ; i--) {
+
+                cams[i].setEnumValue("ExposureAuto", "Off");
+                cams[i].setEnumValue("ExposureMode", "Timed");
+                cams[i].setFloatValue("ExposureTime", config.exposure_time);
+            }
         }
         else if(config.exposure_time ==0){
-            cams[MASTER_CAM_].setEnumValue("ExposureAuto", "Continuous");
-            cams[MASTER_CAM_].setEnumValue("ExposureMode", "Timed");
+            for (int i = numCameras_-1 ; i >=0 ; i--) {
+                cams[i].setEnumValue("ExposureAuto", "Continuous");
+                cams[i].setEnumValue("ExposureMode", "Timed");
+            }
         }
     }
 }