checkout launch files and xml files + minor manual transfers from devel

isri-aist · Sep 26, 2024 · fd341a1 · fd341a1
1 parent 9f26bf5
commit fd341a1
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Showing 22 changed files with 856 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   image_transport
   visp_bridge
+  rosbag
 )
 
 ## System dependencies are found with CMake's conventions

diff --git a/config/FL3-U3toUR10flange.yml b/config/FL3-U3toUR10flange.yml
@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data:
+  - [-0.078]
+  - [0.0]
+  - [0.02]
+  - [0.0]
+  - [0.0]
+  - [-1.5700]
diff --git a/config/calib_equi_224_112.xml b/config/calib_equi_224_112.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<root>
+  <!--PR team of the MIS lab - UPJV - France-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Equirectangular</name>
+      <!--Type of the camera-->
+      <type>4</type>
+      <!--Pixel ratio-->
+      <au>35.650707252</au>
+      <av>35.650707252</av>
+      <!--Principal point-->
+      <u0>112.0000000000</u0>
+      <v0>56.0000000000</v0>
+    </camera>
+</root>
diff --git a/config/calib_equi_92_46.xml b/config/calib_equi_92_46.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<root>
+  <!--PR team of the MIS lab - UPJV - France-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Equirectangular</name>
+      <!--Type of the camera-->
+      <type>4</type>
+      <!--Pixel ratio-->
+      <au>14.642254764</au>
+      <av>14.642254764</av>
+      <!--Principal point-->
+      <u0>46.0000000000</u0>
+      <v0>23.0000000000</v0>
+    </camera>
+</root>
diff --git a/config/calib_omni_46_46.xml b/config/calib_omni_46_46.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<root>
+  <!--M.I.S. Laboratory - Eynard Caron-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Omni</name>
+      <!--Type of the camera-->
+      <type>0</type>
+      <!--Pixel ratio-->
+      <au>36.2253972</au>
+      <av>36.30754</av>
+      <!--Principal point-->
+      <u0>23.0863524</u0>
+      <v0>23.185494</v0>
+      <!--Xi-->
+      <xi>1.60230</xi>
+    </camera>
+</root>
diff --git a/config/calib_omni_80_64.xml b/config/calib_omni_80_64.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<root>
+  <!--PR team of the MIS lab - UPJV - France-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Omni</name>
+      <!--Type of the camera-->
+      <type>0</type>
+      <!--Pixel ratio-->
+      <au>88.348125</au>
+      <av>88.348125</av>
+      <!--Principal point-->
+      <u0>40.0000000000</u0>
+      <v0>32.0000000000</v0>
+      <!--Xi-->
+      <xi>1.78412</xi>
+    </camera>
+</root>
diff --git a/config/calib_persp_320_256.xml b/config/calib_persp_320_256.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<root>
+  <!--PR team of the MIS lab - UPJV - France-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Perspective</name>
+      <!--Type of the camera-->
+      <type>1</type>
+      <!--Pixel ratio-->
+      <au>377.358490566</au>
+      <av>377.358490566</av>
+      <!--Principal point-->
+      <u0>160.0000000000</u0>
+      <v0>128.0000000000</v0>
+    </camera>
+</root>
diff --git a/config/calib_persp_80_64.xml b/config/calib_persp_80_64.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<root>
+  <!--PR team of the MIS lab - UPJV - France-->
+    <camera>
+      <!--Name of the camera-->
+      <name>Perspective</name>
+      <!--Type of the camera-->
+      <type>1</type>
+      <!--Pixel ratio-->
+      <au>94.339622641</au>
+      <av>94.339622641</av>
+      <!--Principal point-->
+      <u0>40.0000000000</u0>
+      <v0>32.0000000000</v0>
+    </camera>
+</root>
diff --git a/config/insta360toUR10flange.yml b/config/insta360toUR10flange.yml
@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data:
+  - [-0.15]
+  - [0.0]
+  - [-0.021]
+  - [1.2091]
+  - [1.2091]
+  - [-1.2091]
diff --git a/config/insta360toUR5flange.yml b/config/insta360toUR5flange.yml
@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data:
+  - [0.0]
+  - [0.0]
+  - [0.15]
+  - [-1.2091]
+  - [1.2091]
+  - [-1.2091]
diff --git a/launch/pgmvsCaptureAndSaveDesired_FL3-U3_Fujinon_resize0p125.launch b/launch/pgmvsCaptureAndSaveDesired_FL3-U3_Fujinon_resize0p125.launch
@@ -0,0 +1,126 @@
+<launch>
+  <!-- Start the camera and settings -->
+  <!--
+  <include file="$(find spinnaker_camera_driver)/launch/camera.launch"/>
+  -->
+  <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
+       If not specified, defaults to first camera found. -->
+  <arg name="camera_name"               default="camera" />
+  <arg name="camera_serial"             default="0" />
+  <arg name="calibrated"                default="0" />
+  <arg name="device_type"               default="USB3" /> <!-- USB3 or GigE -->
+
+  <!-- When unspecified, the driver will use the default framerate as given by the
+      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
+      rate control, and 'frame_rate' to set the frame rate value. -->
+  <arg name="control_frame_rate"        default="True" />
+  <arg name="frame_rate"                default="60" />
+
+  <!-- Disabling ISP will dramatically increase frame-rate. However, it can only be 
+      disabled when using Bayer encoding (e.g. BayerRG8)-->
+  <arg name="isp_enable"                default="False" /> 
+  <arg name="encoding"                  default="Mono8" />
+  <arg name="color_balance"             default="Off" /> <!-- Off, Once, or Continuous -->
+  <!-- Available Encodings:
+        Mono:              YUV:              YCbCr:          Other:
+        - Mono8            - YUV411Packed    - YCbCr8        - BGR8
+        - Mono16           - YUV422Packed    - YCbCr422_8    - BGRa8
+        - Mono12p          - YUV444Packed    - YCbCr411_8    - RGB8Packed
+        - Mono12Packed
+
+        Bayer:
+        - BayerGR8         - BayerGR12p
+        - BayerRG8         - BayerRG12p
+        - BayerGB8         - BayerGB12p
+        - BayerBG8         - BayerBG12p
+        - BayerGR16        - BayerGR12Packed
+        - BayerRG16        - BayerRG12Packed
+        - BayerGB16        - BayerGB12Packed
+        - BayerBG16        - BayerBG12Packed
+  -->
+
+  <arg name="exposure_auto"             default="Off" /> <!-- Off, Once, or Continuous -->
+  <arg name="auto_gain"             default="Off" /> <!-- Off, Once, or Continuous -->
+  <arg name="exposure_time"             default="16000" /> <!-- micro seconds -->
+  <arg name="gain"             default="0" /> <!--  -->
+  <arg name="black_level"             default="0" /> <!--  -->
+  <arg name="black_level_auto"             default="Off" /> <!--  -->
+
+  <group ns="$(arg camera_name)">
+    <!-- Nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
+->
+    <!-- Camera nodelet -->
+    <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
+          args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >
+
+      <param name="frame_id"                        value="$(arg camera_name)" />
+      <param name="serial"                          value="$(arg camera_serial)" />
+      <param name="device_type"                     value="$(arg device_type)" />
+
+      <!-- Frame rate -->
+      <param name="acquisition_frame_rate_enable"   value="$(arg control_frame_rate)" />
+      <param name="acquisition_frame_rate"          value="$(arg frame_rate)" />
+
+      <!-- Image Processing -->
+      <param name="isp_enable"                      value="$(arg isp_enable)" />
+      <param name="auto_white_balance"              value="$(arg color_balance)" />
+      <param name="image_format_color_coding"       value="$(arg encoding)" />
+
+      <!-- Image Resolution -->
+      <!-- Height and width pixel size cannot be set directly. Instead use the 
+          binning, offset, and region of interest options. 
+          - RoI: range of pixels to select from original image
+                (Note: RoI is defined from image pixel origin (i.e. top left))
+          - Binning: reduces resolution by a factor of 1, 2, 4, or 8
+          - Offset: moves the pixel origin
+                x-offset = max_width/x_binning - roi_width/2
+                y-offset = max_height/y_binning - roi_height/2
+      -->
+
+      <param name="image_format_x_binning" value="2" />
+      <param name="image_format_y_binning" value="2" />
+			<!--      
+			<param name="image_format_x_offset" value="128" />
+      <param name="image_format_y_offset" value="122" />
+      <param name="image_format_roi_width" value="1280" />
+      <param name="image_format_roi_height" value="720" />
+      -->
+
+      <param name="exposure_auto"       value="$(arg exposure_auto)" />
+      <param name="auto_gain"       value="$(arg auto_gain)" />
+      <param name="exposure_time"       value="$(arg exposure_time)" />
+      <param name="gain"       value="$(arg gain)" />
+      <param name="black_level"       value="$(arg black_level)" />
+      <param name="black_level_auto"       value="$(arg black_level_auto)" />
+
+      <!-- Use the camera_calibration package to create this file -->
+      <param name="camera_info_url" if="$(arg calibrated)"
+             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
+    </node>
+
+    <!-- Debayering nodelet -->
+    <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
+          args="load image_proc/debayer camera_nodelet_manager">
+    </node>
+  </group>
+
+  <!-- Resize the captured images to reduce the processing time -->
+  <node name="image_resize" pkg="nodelet" type="nodelet" args="standalone image_proc/resize">
+    <remap from="image" to="/camera/image_mono" />
+    <param name="scale_width" value="0.125" />
+    <param name="scale_height" value="0.125" />
+  </node>
+
+  <!-- Start the desired image saving node for photometric visual servoing -->  
+  <node name="pgmvsCaptureAndSaveDesired" pkg="ros_dvs_bridge" type="ros_dvs_bridge_pgmvsCaptureAndSaveDesired"/> <!-- launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "> -->
+    <param name="cameraTopic" type="string" value="/image_resize/image"/>
+    <param name="logs" type="string" value="$(env HOME)/.ros/ros_dvs_bridge/"/>
+
+    <param name="rosbagForEVS" type="bool" value="true"/>
+    <param name="camera2tool" type="string" value="$(find ros_dvs_bridge)/config/FL3-U3toUR10flange.yml"/>
+    <param name="cameraPoseTopic" type="string" value="/tf"/>
+    <param name="desiredPoseTopicForEVS" type="string" value="/vs/camera/desired_pose"/>
+
+</launch>
+
diff --git a/launch/pgmvsCaptureAndSaveDesired_FL3-U3_resize0p125.launch b/launch/pgmvsCaptureAndSaveDesired_FL3-U3_resize0p125.launch
@@ -0,0 +1,112 @@
+<launch>
+  <!-- Start the camera and settings -->
+  <!--
+  <include file="$(find spinnaker_camera_driver)/launch/camera.launch"/>
+  -->
+  <!-- Determine this using rosrun spinnaker_camera_driver list_cameras.
+       If not specified, defaults to first camera found. -->
+  <arg name="camera_name"               default="camera" />
+  <arg name="camera_serial"             default="0" />
+  <arg name="calibrated"                default="0" />
+  <arg name="device_type"               default="USB3" /> <!-- USB3 or GigE -->
+
+  <!-- When unspecified, the driver will use the default framerate as given by the
+      camera itself. Use the parameter 'control_frame_rate' to enable manual frame 
+      rate control, and 'frame_rate' to set the frame rate value. -->
+  <arg name="control_frame_rate"        default="True" />
+  <arg name="frame_rate"                default="60" />
+
+  <!-- Disabling ISP will dramatically increase frame-rate. However, it can only be 
+      disabled when using Bayer encoding (e.g. BayerRG8)-->
+  <arg name="isp_enable"                default="False" /> 
+  <arg name="encoding"                  default="Mono8" />
+  <arg name="color_balance"             default="Off" /> <!-- Off, Once, or Continuous -->
+  <!-- Available Encodings:
+        Mono:              YUV:              YCbCr:          Other:
+        - Mono8            - YUV411Packed    - YCbCr8        - BGR8
+        - Mono16           - YUV422Packed    - YCbCr422_8    - BGRa8
+        - Mono12p          - YUV444Packed    - YCbCr411_8    - RGB8Packed
+        - Mono12Packed
+
+        Bayer:
+        - BayerGR8         - BayerGR12p
+        - BayerRG8         - BayerRG12p
+        - BayerGB8         - BayerGB12p
+        - BayerBG8         - BayerBG12p
+        - BayerGR16        - BayerGR12Packed
+        - BayerRG16        - BayerRG12Packed
+        - BayerGB16        - BayerGB12Packed
+        - BayerBG16        - BayerBG12Packed
+  -->
+
+  <group ns="$(arg camera_name)">
+    <!-- Nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" cwd="node" output="screen"/>
+->
+    <!-- Camera nodelet -->
+    <node pkg="nodelet" type="nodelet" name="spinnaker_camera_nodelet"
+          args="load spinnaker_camera_driver/SpinnakerCameraNodelet camera_nodelet_manager" >
+
+      <param name="frame_id"                        value="$(arg camera_name)" />
+      <param name="serial"                          value="$(arg camera_serial)" />
+      <param name="device_type"                     value="$(arg device_type)" />
+
+      <!-- Frame rate -->
+      <param name="acquisition_frame_rate_enable"   value="$(arg control_frame_rate)" />
+      <param name="acquisition_frame_rate"          value="$(arg frame_rate)" />
+
+      <!-- Image Processing -->
+      <param name="isp_enable"                      value="$(arg isp_enable)" />
+      <param name="auto_white_balance"              value="$(arg color_balance)" />
+      <param name="image_format_color_coding"       value="$(arg encoding)" />
+
+      <!-- Image Resolution -->
+      <!-- Height and width pixel size cannot be set directly. Instead use the 
+          binning, offset, and region of interest options. 
+          - RoI: range of pixels to select from original image
+                (Note: RoI is defined from image pixel origin (i.e. top left))
+          - Binning: reduces resolution by a factor of 1, 2, 4, or 8
+          - Offset: moves the pixel origin
+                x-offset = max_width/x_binning - roi_width/2
+                y-offset = max_height/y_binning - roi_height/2
+      -->
+
+      <param name="image_format_x_binning" value="2" />
+      <param name="image_format_y_binning" value="2" />
+			<!--      
+			<param name="image_format_x_offset" value="128" />
+      <param name="image_format_y_offset" value="122" />
+      <param name="image_format_roi_width" value="1280" />
+      <param name="image_format_roi_height" value="720" />
+      -->
+
+      <!-- Use the camera_calibration package to create this file -->
+      <param name="camera_info_url" if="$(arg calibrated)"
+             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
+    </node>
+
+    <!-- Debayering nodelet -->
+    <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
+          args="load image_proc/debayer camera_nodelet_manager">
+    </node>
+  </group>
+
+  <!-- Resize the captured images to reduce the processing time -->
+  <node name="image_resize" pkg="nodelet" type="nodelet" args="standalone image_proc/resize">
+    <remap from="image" to="/camera/image_mono" />
+    <param name="scale_width" value="0.125" />
+    <param name="scale_height" value="0.125" />
+  </node>
+
+  <!-- Start the desired image saving node for photometric visual servoing -->  
+  <node name="pgmvsCaptureAndSaveDesired" pkg="ros_dvs_bridge" type="ros_dvs_bridge_pgmvsCaptureAndSaveDesired"/> <!-- launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "> -->
+    <param name="cameraTopic" type="string" value="/image_resize/image"/>
+    <param name="logs" type="string" value="$(env HOME)/.ros/ros_dvs_bridge/"/>
+
+    <param name="rosbagForEVS" type="bool" value="true"/>
+    <param name="camera2tool" type="string" value="$(find ros_dvs_bridge)/config/FL3-U3toUR10flange.yml"/>
+    <param name="cameraPoseTopic" type="string" value="/tf"/>
+    <param name="desiredPoseTopicForEVS" type="string" value="/vs/camera/desired_pose"/>
+
+</launch>
+