Resolving merge commits with master

vik748 · vik748 · commit 70be7beab516 · 2021-02-02T21:18:01.000-05:00
diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,39 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**System Description**
+Camera Name and Model:
+Operating System:
+Spinnaker Version:
+ROS Version: 
+
+***Computer details***
+Processor:
+RAM:
+
+***Multiple Cameras Only***
+How is the triggering setup? Master/Slave or all slaves or all software triggered?
+
+For USB 3.0 cameras:
+On same USB 3.0 bus or different buses?
+Is the USB 3.0 hub externally powered?
+
+For Ethernet cameras: 
+How busy is the network, does the system work in grayscale, at a lower resoultion (binning) and framerate?
+
+**Do the cameras work with SpinView?**
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**Error Messages**
+Copy and paste your error messages here
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,11 +8,7 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 ###
 # camera Acquisition specific 
 ###
-#SET("OpenCV_DIR" "~/apps/opencv-2.4.13/")
 set(PROJECT_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include" CACHE PATH "Project Include Directory")
-set(SPINNAKER_INCLUDE_DIR "/usr/include/spinnaker" CACHE PATH "Spinnaker Include Directory")
-set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
-# set(yaml-cpp_DIR "~/apps/yaml-cpp" CACHE PATH "yaml-cpp Directory")
 set(CUDA_USE_STATIC_CUDA_RUNTIME  OFF)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -32,6 +28,8 @@ find_package(catkin REQUIRED COMPONENTS
 # Acquisition specific
 ###
 # Find Packages
+find_package(Spinnaker REQUIRED)
+message("spinnaker lib :   " ${Spinnaker_LIBRARIES})
 find_package(OpenCV REQUIRED)
 # use LibUnwind only for x86_64 or x86_32 architecture
 # do not use LibUnwind for arm architecture
@@ -76,15 +74,15 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
       ${LibUnwind_INCLUDE_DIRS}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${LibUnwind_LIBRARIES} ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
     
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
@@ -97,14 +95,14 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
     
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
 
diff --git a/README.md b/README.md
@@ -3,9 +3,27 @@ master:
 dev: [![Build Status](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver.svg?branch=dev)](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver)
 
 # spinnaker_sdk_camera_driver
-
 These are the ros drivers for running the Pt Grey (FLIR) cameras that use the Spinnaker SDK.  This code has been tested with various Point Grey Blackfly S (BFS) cameras. 
 
+## Compatibility Matrix
+| Spinnaker | Architecture | Ubnuntu 16.04 Xenial +<br>ROS Kinetic  | Ubnuntu 18.04 Bionic +<br>ROS Melodic | Ubnuntu 20.04 Focal +<br>ROS Noetic |
+|-----------|:------------:|:--------------------------------------:|:-------------------------------------:|:-----------------------------------:|
+| 1.17.0.23 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.17.0.23 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.24.0.60 | AMD64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 1.24.0.60 | ARM64        | :heavy_check_mark:                     |:heavy_minus_sign:                     |:heavy_minus_sign:                   |
+| 2.0.0.147 | AMD64        | :heavy_check_mark:                     |:white_check_mark:                     |:heavy_minus_sign:                   |
+| 2.0.0.147 | ARM64        | :heavy_check_mark:                     |                                       |:heavy_minus_sign:                   |
+| 2.2.0.48  | AMD64        | :heavy_minus_sign:                     |:heavy_check_mark:                     |                                     |
+| 2.2.0.48  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
+| 2.3.0.77  | AMD64        | :heavy_minus_sign:                     |                                       |                                     |
+| 2.3.0.77  | ARM64        | :heavy_minus_sign:                     |                                       |                                     |
+
+:heavy_check_mark: Tested 
+:heavy_minus_sign: Not Applicable 
+:white_check_mark: Reported to work 
+:x: Known compatibility Issue
+
 ## Getting Started
 
 These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
@@ -18,23 +36,25 @@ The pre-requisites for this repo include:
 * ros-kinetic-cv-bridge
 * ros-kinetic-image-transport
 
-**Incase of x86_64 or x86_32 architecture, also install *libunwind-dev* **
+#### After installing spinnaker, Verify that you can run your cameras with SpinView.
+
+#### For x86_64 or x86_32 architecture, install the following:
+* libunwind-dev
 
 ```bash
-# after installing spinnaker verify that you can run your cameras with SpinView
 
 # after installing ros, install other pre-requisites with: 
 
 sudo apt install libunwind-dev ros-kinetic-cv-bridge ros-kinetic-image-transport
+```
 
-# if you use arm64 (aarch64), install pre-requisites with: 
-
+####  For arm64 (aarch64) architecture, install pre-requisites with:
+```
 sudo apt install ros-kinetic-cv-bridge ros-kinetic-image-transport
-
 ```
 
 ### Installing
-To install the spinnaker drivers
+To install this spinnaker_sdk_camera_driver
 ```bash
 mkdir -p ~/spinnaker_ws/src
 cd spinnaker_ws/src
@@ -51,12 +71,22 @@ Modify the `params/test_params.yaml` file replacing the cam-ids and master cam s
 ```bash
 # To launch nodelet verison of driver, use #
 
+<<<<<<< HEAD
 roslaunch spinnaker_camera_driver acquisition.launch
+=======
+roslaunch spinnaker_sdk_camera_driver acquisition.launch
 
-# To launch node version of driver, use 
+# To launch node version of driver, use #
+>>>>>>> master
 
+roslaunch spinnaker_sdk_camera_driver acquisition_node.launch
+
+<<<<<<< HEAD
 roslaunch spinnaker_camera_driver node_acquisition.launch
+=======
+>>>>>>> master
 # Test that the images are being published by running
+
 rqt_image_view
 ```
 ## Parmeters
diff --git a/cmake/FindSpinnaker.cmake b/cmake/FindSpinnaker.cmake
@@ -0,0 +1,42 @@
+# Find the Spinnaker library
+#
+#  Spinnaker_FOUND        - True if Spinnaker was found.
+#  Spinnaker_LIBRARIES    - The libraries needed to use Spinnaker
+#  Spinnaker_INCLUDE_DIRS - Location of Spinnaker.h
+
+unset(Spinnaker_FOUND)
+unset(Spinnaker_INCLUDE_DIRS)
+unset(Spinnaker_LIBRARIES)
+
+find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /opt/spinnaker/include
+  )
+find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /opt/spinnaker/lib
+)
+
+if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+  message(STATUS "Couldnt find Spinnaker 2.2.x. Checking lower versions")
+  find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /usr/include/spinnaker/
+  /usr/local/include/spinnaker/
+  )
+  find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /usr/lib
+  /usr/local/lib
+  )
+  if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+     message(STATUS "Couldnt find Spinnaker.")
+  endif()
+endif()
+
+if (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)
+  message(STATUS "Spinnaker found in the system")
+  set(Spinnaker_FOUND 1)
+endif (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)
diff --git a/params/stereo_camera_example.yaml b/params/stereo_camera_example.yaml
@@ -1,4 +1,5 @@
 cam_ids:
+<<<<<<< HEAD
 - 17197554
 - 17197556
 cam_aliases:
@@ -21,8 +22,9 @@ delay: 1.0
 
 #Camera info message details
 distortion_model: plumb_bob
-image_height: 1024 #1536
-image_width: 1280 #2048
+image_height: 1024
+image_width: 1280
+
 distortion_coeffs:
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
@@ -40,11 +42,14 @@ rectification_coeffs:
 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]
 - [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+<<<<<<< HEAD
 
 flip_horizontal:
 - false
 - false
 
 flip_vertical:
 - false
-- false
+- false
+=======
+>>>>>>> master
diff --git a/params/test_params.yaml b/params/test_params.yaml
@@ -1,8 +1,8 @@
 cam_ids:
-- 17197556
+- 17197559
 cam_aliases:
 - cam0
-master_cam: 17197556
+master_cam: 17197559
 skip: 20
 delay: 1.0
 
diff --git a/src/capture.cpp b/src/capture.cpp
@@ -204,6 +204,7 @@ void acquisition::Capture::load_cameras() {
                 img_msgs.push_back(sensor_msgs::ImagePtr());
 
                 sensor_msgs::CameraInfoPtr ci_msg(new sensor_msgs::CameraInfo());
+
                 //int image_width = 0;
                 //int image_height = 0;
                 nh_pvt_.getParam("image_height", image_height_);
@@ -214,6 +215,7 @@ void acquisition::Capture::load_cameras() {
                                 
                 std::string distortion_model = ""; 
                 nh_pvt_.getParam("distortion_model", distortion_model);
+
                 // distortion
                 ci_msg->distortion_model = distortion_model;
                 // binning
@@ -266,9 +268,7 @@ void acquisition::Capture::load_cameras() {
                 }
 
                 cam_info_msgs.push_back(ci_msg);
-
                 cam_counter++;
-                
             }
         }
         if (!current_cam_found) ROS_WARN_STREAM("   Camera "<<cam_ids_[j]<<" not detected!!!");
@@ -283,10 +283,9 @@ void acquisition::Capture::load_cameras() {
     PUBLISH_CAM_INFO_ = true;
 
     if (!EXTERNAL_TRIGGER_)
-		ROS_ASSERT_MSG(master_set,"The camera supposed to be the master isn't connected!");
+        ROS_ASSERT_MSG(master_set,"The camera supposed to be the master isn't connected!");
 }
 
-
 void acquisition::Capture::read_parameters() {
 
     ROS_INFO_STREAM("*** PARAMETER SETTINGS ***");
