rc_genicam_camera

This nodelet permits access to the configuration of a GenICam compatible camera and publishes raw images and camera_info messages according to the ROS image pipeline.

Configuration

Parameters

Parameters to be set to the ROS param server before run-time.

• device: The ID of the GenICam camera. It depends on the camera and the GenTL producer what the ID is. Available devices can be listed with ‘gc_config -l’ from the rc_genicam_api package.

  See https://github.com/roboception/rc_genicam_api#device-id for more details.

• gev_access: The gev_access mode, i.e.:
  • ‘control’ Configuration and streaming with the possibility of other clients to read GenICam parameters. This is the default.
  • ‘exclusive’ Exclusive access to the sensor. This prevents other clients to read GenICam parameters.

• frame_id: Frame ID that will be used for header of all published messages. The default is [_]camera[].

• image_prefix: Optional prefix for storing all grabbed images.

• rotate: True for rotating input images by 180 degrees.

• config_file: Optional parameter with absolute path and name of a file that contains one or more GenICam parameters or commands, separated by white spaces (e.g. space, return):

  <name>=<value> sets the given value to the parameter with the given name. It
                 must not contain a white space.

  <name>         Calls the GenICam command with the given name. The name must
                 not contain any white space.

  # ... \n       Comment which is skipped.
  

Processing stops on the first error, which is reported in the logfile.

• calib_file: Optional parameter with absolute path and name of a file that contains the camera calibration. The information is used for the CameraInfo messages:

   # Calibration matrix

   camera{.<id>}.A=[<fx> <skew> <u0>; 0 <fy> <v0>; 0 0 1]
   camera{.<id>}.width=<w>
   camera{.<id>}.height=<h>

   # Optional parameters for radial and tangential distortion. Missing
   # parameters are assumed to be 0

   camera{.<id>}.k1=<k1>
   camera{.<id>}.k2=<k2>
   camera{.<id>}.k3=<k3>
   camera{.<id>}.p1=<p1>
   camera{.<id>}.p2=<p2>

   # Alternative optional parameters for equidistant distortion model

   camera{.<id>}.e1=<e1>
   camera{.<id>}.e2=<e2>
   camera{.<id>}.e3=<e3>
   camera{.<id>}.e4=<e4>

   # Extrinsic position of orientation of camera (only relevant for stereo,
   # i.e. if <id> is given). The extrinsic transformations are defined by
   # Pw = camera.0.R * P0 + camera.0.T and Pw = camera.1.R * P1 + camera.1.T

   camera{.<id>}.R=[<r00> <r01> <r02>; <r10> <r11> <r12>; <r20> <r21> <r22>]
   camera{.<id>}.T=[<tx> <ty> <tz>]

   # Optionally the focal length in pixel for rectification. By default, the
   # focal length is computed as average of <fx> and <fy>.

   rect.f=<f>
   

<id> is the number that is specified by calib_id. If it is 0 or 1, then the extrinsic relationship camera.0.R, camera.0.T and camera.1.R, camera.1.T is used for defining the rectification rotation matrix in CameraInfo.

• calib_id: ID of camera. A calibration file for a mono camera is expected if ID < 0. For stereo systems, 0 is used for the left camera and 1 for the right camera. Default: -1.

Parameters for Synchronization

The following parameters are used for receiving and associating the time stamp

File truncated at 100 lines see the full file

1.3.0 (2021-02-04)

• Make frame_id configurable and improved default.

1.2.4 (2021-01-29)

• Fixed linking problems

1.2.3 (2020-12-21)

• Updated cmake and CI files
• Dropped building for trusty and added building for focal on CI

1.2.2 (2019-09-06)

• Added parameter to rotate grabbed images by 180 degrees

1.2.1 (2019-06-06)

• Added parameter for storing all grabbed images as files
• Minor performance optimization

1.2.0 (2019-05-24)

• Fixed failing of loading initial GenICam parameters
• Fixed readme.
• Generate documentation too
• Report errors if config or calibration file cannot be loaded

1.1.0 (2019-02-01)

• Setting CameraInfo values properly from mono- or stereocamera calibration file
• Read camera timestamp from TimestampLatchValue by default, which in GenICam standard
• Mapping of most 8 and 16 bit pixel formats from GenICam to ROS

1.0.0 (2019-01-24)

• Initial release