From 7db5479a9f91ff0932e3f457ae5cd386e2112907 Mon Sep 17 00:00:00 2001
From: mithunvarma <diddi.m@husky.neu.edu>
Date: Tue, 24 Sep 2019 15:33:10 -0400
Subject: [PATCH 1/2] will add auto exposure time upper and lower limits, so we
can acheive faster fps in auto exposure mode by limiting upper limit, removed
old master_fps params
---
README.md | 6 ++++-
include/spinnaker_sdk_camera_driver/capture.h | 3 ++-
launch/acquisition.launch | 8 +++++--
launch/node_acquisition.launch | 8 +++++--
params/test_params.yaml | 4 ++--
src/capture.cpp | 22 ++++++++++++++++---
6 files changed, 40 insertions(+), 11 deletions(-)
diff --git a/README.md b/README.md
index b28e4ad..2741a13 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,11 @@ 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.
- * ~external_trigger (bool, default: false)
+* ~auto_exposure_lower_limit (int, default: 100 us)
+ Auto Exposure lower limit setting to be used in auto_exposure mode, min:6 for blackfly s model.
+* ~auto_exposure_upper_limit (int, default: 2000 us)
+ Auto Exposure upper limit setting to be used in auto_exposure mode.
+* ~external_trigger (bool, default: false)
Camera triggering setting when using an external trigger. In this mode, none of the cameras would be set as a master camera. All cameras are setup to use external trigger. In this mode the main loop runs at rate set by soft_framerate, so if the external trigger rate is higher than the soft_framerate, the buffer will get filled and images will have a lag. Also in this mode, the getnextimage timeout is set to infinite so that the node dosen't die if a trigger is not received for a while.
* ~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.
diff --git a/include/spinnaker_sdk_camera_driver/capture.h b/include/spinnaker_sdk_camera_driver/capture.h
index 741d286..a0a4be4 100755
--- a/include/spinnaker_sdk_camera_driver/capture.h
+++ b/include/spinnaker_sdk_camera_driver/capture.h
@@ -105,12 +105,13 @@ namespace acquisition {
int nframes_;
float init_delay_;
int skip_num_;
- float master_fps_;
+ //float master_fps_;
int binning_;
bool color_;
string dump_img_;
string ext_;
float exposure_time_;
+ float auto_exposure_lower_limit_,auto_exposure_upper_limit_;
double target_grey_value_;
// int decimation_;
string tf_prefix_;
diff --git a/launch/acquisition.launch b/launch/acquisition.launch
index 8d8fd31..ea4c4bf 100644
--- a/launch/acquisition.launch
+++ b/launch/acquisition.launch
@@ -3,9 +3,11 @@
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find spinnaker_sdk_camera_driver)/cfg/std_console.conf"/>
<!-- acquisition spinnaker params-->
- <arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
+ <arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
<arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
- <arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
+ <arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
+ <arg name="auto_exposure_lower_limit" default="100" doc="auto_exposure lower limit setting for auto_exposure mode, min:6 for blackfly s"/>
+ <arg name="auto_exposure_upper_limit" default="2000" doc="auto_exposure upper limit setting for auto_exposure mode"/>
<arg name="external_trigger" default="false" doc="External trigger (No camera is master)"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
@@ -43,6 +45,8 @@
<!-- Load parameters onto server using argument or default values above -->
<param name="exposure_time" value="$(arg exposure_time)" />
+ <param name="auto_exposure_lower_limit" value="$(arg auto_exposure_lower_limit)" />
+ <param name="auto_exposure_upper_limit" value="$(arg auto_exposure_upper_limit)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
diff --git a/launch/node_acquisition.launch b/launch/node_acquisition.launch
index 83d3aec..d276466 100644
--- a/launch/node_acquisition.launch
+++ b/launch/node_acquisition.launch
@@ -5,8 +5,10 @@
<!-- acquisition.launch -->
<arg name="binning" default="1" doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
- <arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
- <arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
+ <arg name="color" default="false" doc="Should color images be used (only works on models that support color images)"/>
+ <arg name="exposure_time" default="0" doc="Exposure_time setting for cameras"/>
+ <arg name="auto_exposure_lower_limit" default="100" doc="auto_exposure lower limit setting for auto_exposure mode, min:6 for blackfly s"/>
+ <arg name="auto_exposure_upper_limit" default="2000" doc="auto_exposure upper limit setting for auto_exposure mode"/>
<arg name="external_trigger" default="false" doc="External trigger (No camera is master)"/>
<arg name="target_grey_value" default="0" doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />
<arg name="frames" default="3400" doc="Numer of frames to save/view 0=ON"/>
@@ -36,6 +38,8 @@
<!-- Load parameters onto server using argument or default values above -->
<param name="exposure_time" value="$(arg exposure_time)" />
+ <param name="auto_exposure_lower_limit" value="$(arg auto_exposure_lower_limit)" />
+ <param name="auto_exposure_upper_limit" value="$(arg auto_exposure_upper_limit)" />
<param name="external_trigger" value="$(arg external_trigger)" />
<param name="target_grey_value" value="$(arg target_grey_value)" />
<param name="binning" value="$(arg binning)" />
diff --git a/params/test_params.yaml b/params/test_params.yaml
index c359b2c..084e36f 100644
--- a/params/test_params.yaml
+++ b/params/test_params.yaml
@@ -1,8 +1,8 @@
cam_ids:
-- 17197556
+- 17197554
cam_aliases:
- cam0
-master_cam: 17197556
+master_cam: 17197554
skip: 20
delay: 1.0
diff --git a/src/capture.cpp b/src/capture.cpp
index 95586a8..dc9eedb 100755
--- a/src/capture.cpp
+++ b/src/capture.cpp
@@ -82,6 +82,8 @@ void acquisition::Capture::init_variables_register_to_ros() {
// default values for the parameters are set here. Should be removed eventually!!
exposure_time_ = 0 ; // default as 0 = auto exposure
+ auto_exposure_lower_limit_ = 100; // 0.1 ms(min value blackfly s=6us)
+ auto_exposure_upper_limit_ = 2000; // 2ms
soft_framerate_ = 20; //default soft framrate
ext_ = ".bmp";
SOFT_FRAME_RATE_CTRL_ = false;
@@ -99,7 +101,7 @@ void acquisition::Capture::init_variables_register_to_ros() {
region_of_interest_set_ = false;
skip_num_ = 20;
init_delay_ = 1;
- master_fps_ = 20.0;
+ //master_fps_ = 20.0;
binning_ = 1;
SPINNAKER_GET_NEXT_IMAGE_TIMEOUT_ = 2000;
todays_date_ = todays_date();
@@ -425,6 +427,8 @@ void acquisition::Capture::read_parameters() {
}
} else ROS_WARN(" 'delay' Parameter not set, using default behavior: delay=%f",init_delay_);
+
+ /*
if (nh_pvt_.getParam("fps", master_fps_)){
if (master_fps_>=0) ROS_INFO(" Master cam fps set to : %0.2f",master_fps_);
else {
@@ -433,12 +437,21 @@ void acquisition::Capture::read_parameters() {
}
}
else ROS_WARN(" 'fps' Parameter not set, using default behavior: fps=%0.2f",master_fps_);
-
+ */
if (nh_pvt_.getParam("exposure_time", exposure_time_)){
if (exposure_time_ >0) ROS_INFO(" Exposure set to: %.1f",exposure_time_);
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 (exposure_time_ == 0) {
+ // if exposure is auto, exposure_time param is 0
+ // min exposure is usually > 5 fro blackfly s and varies with camera model
+ if (nh_pvt_.getParam("auto_exposure_lower_limit", auto_exposure_lower_limit_)) ROS_INFO(" auto_exposure_lower_limit set to: %.1f",auto_exposure_lower_limit_);
+ else ROS_WARN(" 'auto_exposure_lower_limit' Parameter not set, using default behavior: auto_exposure_lower_limit=%.1f",auto_exposure_lower_limit_);
+
+ if (nh_pvt_.getParam("auto_exposure_upper_limit", auto_exposure_upper_limit_)) ROS_INFO(" auto_exposure_upper_limit set to: %.1f",auto_exposure_upper_limit_);
+ else ROS_WARN(" 'auto_exposure_upper_limit' Parameter not set, using default behavior: auto_exposure_upper_limit=%.1f",auto_exposure_upper_limit_);
+ }
+
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_);}
@@ -658,7 +671,10 @@ void acquisition::Capture::init_cameras(bool soft = false) {
cams[i].setFloatValue("ExposureTime", exposure_time_);
} else {
cams[i].setEnumValue("ExposureAuto", "Continuous");
+ cams[i].setFloatValue("AutoExposureExposureTimeLowerLimit",auto_exposure_lower_limit_);
+ cams[i].setFloatValue("AutoExposureExposureTimeUpperLimit",auto_exposure_upper_limit_);
}
+
if (target_grey_value_ > 4.0) {
cams[i].setEnumValue("AutoExposureTargetGreyValueAuto", "Off");
cams[i].setFloatValue("AutoExposureTargetGreyValue", target_grey_value_);
From 2e7fccf652b998c4fbb722a16541bd97ae9fda86 Mon Sep 17 00:00:00 2001
From: mithunvarma <diddi.m@husky.neu.edu>
Date: Tue, 24 Sep 2019 17:46:16 -0400
Subject: [PATCH 2/2] update Readme about effect of auto_exposure_limits
---
README.md | 27 +++++++++++++++++++++------
params/stereo_camera_example.yaml | 4 ++--
2 files changed, 23 insertions(+), 8 deletions(-)
diff --git a/README.md b/README.md
index 2741a13..76e65da 100644
--- a/README.md
+++ b/README.md
@@ -58,17 +58,32 @@ rqt_image_view
## Parmeters
All the parameters can be set via the launch file or via the yaml config_file. It is good practice to specify all the 'task' specific parameters via launch file and all the 'system configuration' specific parameters via a config_file.
-### Task Specific Parameters
-* ~binning (int, default: 1)
- Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged
-* ~color (bool, default: false)
- Should color images be used (only works on models that support color images)
+
+### Auto Exposure Parameters
* ~exposure_time (int, default: 0, 0:auto)
Exposure setting for cameras, also available as dynamic reconfiguarble parameter.
+
+
+* For auto_exposure mode (~exposure_time=0), following parameters will be used:
+
+
+The upper and lower limits are the time duration for auto exposure algorithm on chip. On spinview software for Blackfly s, default upper limit = 15000 us
+default lower limits = 100 us and acceptable minimum value >= 6 us
+
+
+Setting an higher auto_exposure_upper_limit could potentially slow down the desired fps based on scene. Especially when collecting data greater than 45 fps in auto_exposure it is recommended to have a lower value on auto_exposure_upper_limit.
+
+
* ~auto_exposure_lower_limit (int, default: 100 us)
- Auto Exposure lower limit setting to be used in auto_exposure mode, min:6 for blackfly s model.
+ Auto Exposure lower limit setting to be used in auto_exposure mode, min:6 us for blackfly s model.
* ~auto_exposure_upper_limit (int, default: 2000 us)
Auto Exposure upper limit setting to be used in auto_exposure mode.
+
+### Task Specific Parameters
+* ~binning (int, default: 1)
+ Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged
+* ~color (bool, default: false)
+ Should color images be used (only works on models that support color images)
* ~external_trigger (bool, default: false)
Camera triggering setting when using an external trigger. In this mode, none of the cameras would be set as a master camera. All cameras are setup to use external trigger. In this mode the main loop runs at rate set by soft_framerate, so if the external trigger rate is higher than the soft_framerate, the buffer will get filled and images will have a lag. Also in this mode, the getnextimage timeout is set to infinite so that the node dosen't die if a trigger is not received for a while.
* ~target_grey_value (double, default: 0 , 0:Continous/auto)
diff --git a/params/stereo_camera_example.yaml b/params/stereo_camera_example.yaml
index 1368a5c..786fcca 100644
--- a/params/stereo_camera_example.yaml
+++ b/params/stereo_camera_example.yaml
@@ -1,10 +1,10 @@
cam_ids:
+- 17197555
- 17197554
-- 17197556
cam_aliases:
- cam0
- cam1
-master_cam: 17197554
+master_cam: 17197555
skip: 20
delay: 1.0