addind params

Author: mithundiddi

launch/acquisition.launch

@@ -21,7 +21,7 @@
   <arg name="to_ros"            default="true"  doc="Flag whether images should be published to ROS" />
   <arg name="utstamps"          default="false" doc="Flag whether each image should have Unique timestamps vs the master cams time stamp for all" />
   <arg name="max_rate_save"     default="false" doc="Flag for max rate mode which is when the master triggerst the slaves and saves images at maximum rate possible" />
-  <arg name="config_file"       default="$(find spinnaker_sdk_camera_driver)/params/test_params.yaml" doc="File specifying the parameters of the camera_array"/>
+  <arg name="config_file"       default="$(find spinnaker_sdk_camera_driver)/params/cam_17197558.yaml" doc="File specifying the parameters of the camera_array"/>
 
   <!-- load the acquisition node -->
   <node pkg="spinnaker_sdk_camera_driver" type="acquisition_node" name="acquisition_node" output="$(arg output)" launch-prefix="$(arg launch_prefix)" args="">

params/test_params.yaml renamed to params/cam_17197553.yaml

@@ -1,18 +1,20 @@
 cam_ids:
-- 17197556
+- 17197553
 cam_aliases:
 - cam0
-master_cam: 17197556
+master_cam: 17197553
 skip: 5
 delay: 0
 
 #Camera info message details
 distortion_model: plumb_bob
 distortion_coeffs:
-- [-0.17465, 0.03501, 0.00064, -0.00036]
+    - [-0.22001, 0.16693, 0.00261, -0.00099, 0.00000]
+    #- [-0.17465, 0.03501, 0.00064, -0.00036]
 #specified as [fx  0 cx 0 fy cy 0  0  1]
 intrinsic_coeffs:
-- [638.71023, 0.0, 315.25919, 0.0, 641.21041, 248.26077, 0.0, 0.0, 1.0]
+    - [1278.71483, 0.0, 623.08283, 0.0, 1284.06247, 515.71835, 0.0, 0.0, 1.0]
+    #- [638.71023, 0.0, 315.25919, 0.0, 641.21041, 248.26077, 0.0, 0.0, 1.0]
 
 # Assign all the follwing via launch file to prevent confusion and conflict
 

params/cam_17197558.yaml

@@ -0,0 +1,28 @@
+cam_ids:
+- 17197558
+cam_aliases:
+- cam0
+master_cam: 17197558
+skip: 5
+delay: 0
+
+#Camera info message details
+distortion_model: plumb_bob
+distortion_coeffs:
+    - [-0.22001, 0.16693, 0.00261, -0.00099, 0.00000]
+    #- [-0.17465, 0.03501, 0.00064, -0.00036]
+#specified as [fx  0 cx 0 fy cy 0  0  1]
+intrinsic_coeffs:
+    - [1278.71483, 0.0, 623.08283, 0.0, 1284.06247, 515.71835, 0.0, 0.0, 1.0]
+    #- [638.71023, 0.0, 315.25919, 0.0, 641.21041, 248.26077, 0.0, 0.0, 1.0]
+
+# Assign all the follwing via launch file to prevent confusion and conflict
+
+#save_path: ~/projects/data
+#save_type: .bmp #binary or .tiff or .bmp
+#binning: 1 # going from 2 to 1 requires cameras to be unplugged and replugged
+color: false
+#frames: 50
+#soft_framerate: 4 # this frame rate reflects to the software frame rate set using ros::rate
+#exp: 997
+#to_ros: true  #When to_ros is not selected, but live is selected, pressing 'space' exports single image to ROS

src/subscriber_node.cpp

@@ -0,0 +1,24 @@
+#include <ros/ros.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/highgui/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/Image.h>
+
+#include <ros/console.h>
+
+
+void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+{
+    sensor_msgs::Image a =*msg;
+    double times =a.header.stamp.toSec();
+    ROS_INFO_STREAM("THE DIFF IS :" << ros::Time::now().toSec() - times);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "subscriber_node");
+  ros::NodeHandle nh;
+  image_transport::ImageTransport it(nh);
+  image_transport::Subscriber sub = it.subscribe("/camera_array/cam0/image_raw", 1, imageCallback);
+  ros::spin();
+}