added primary_secondary launch file

spinnaker_synchronized_camera_driver/doc/index.rst

@@ -119,7 +119,7 @@ Exposure controller parameters
 Example usage
 -------------
 
-The driver comes with two example launch files that need to be modified for your purposes (update serial numbers etc).
+The driver comes with several example launch files that need to be modified for your purposes (update serial numbers etc).
 The ``follower_example.launch.py`` can be used as template for stereo cameras, the ``master_example.launch.py`` for situations
 where each camera should run their own exposure control.
 
@@ -133,6 +133,10 @@ Carefully examine the camera parameters that are set in the launch file, in part
 - ``exposure_auto`` must be off (disable the individual camera controller).
 - ``chunk_mode_active`` must be true, and chunk exposure time, gain and frame id must be enabled
 
+For the special case where one camera (primary) triggers the sync pulse of a secondary camera, see
+the example launch file ``primary_secondary.launch.py``. If you don't use Blackfly S cameras you will have
+to adjust the digital I/O parameters.
+
 
 Known issues
 ============

spinnaker_synchronized_camera_driver/launch/primary_secondary.launch.py

@@ -0,0 +1,164 @@
+# -----------------------------------------------------------------------------
+# Copyright 2024 Bernd Pfrommer <[email protected]> and Li Dahua
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+# Example file for two Blackfly S cameras where the primary camera triggers
+# the secondary via its 3.3V signaling interface.
+#
+# One of them creates a master controller, the other one a follower. The exposure
+# parameters are determined by the master. This is a useful setup for e.g. a
+# synchronized stereo camera.
+#
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument as LaunchArg
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration as LaunchConfig
+from launch.substitutions import PathJoinSubstitution as PJoin
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+
+# Camera list with serial numbers
+camera_list = {
+    'cam0': '22092309',
+    'cam1': '22092307',
+}
+
+# Exposure controller parameters
+exposure_controller_parameters = {
+    'brightness_target': 50,  # from 0..255
+    'brightness_tolerance': 20,  # when to update exposure/gain
+    'max_exposure_time': 15000,  # usec
+    'min_exposure_time': 5000,  # usec
+    'max_gain': 29.9,
+    'gain_priority': False,
+}
+
+# Parameters shared by all cameras
+shared_cam_parameters = {
+    'debug': False,
+    'quiet': True,
+    'buffer_queue_size': 1,
+    'compute_brightness': True,
+    'pixel_format': 'BGR8',
+    'exposure_auto': 'Off',
+    'exposure_time': 10000,  # not used under auto exposure
+    'gain_auto': 'Off',
+    'balance_white_auto': 'Continuous',
+    'chunk_mode_active': True,
+    'chunk_selector_frame_id': 'FrameID',
+    'chunk_enable_frame_id': True,
+    'chunk_selector_exposure_time': 'ExposureTime',
+    'chunk_enable_exposure_time': True,
+    'chunk_selector_gain': 'Gain',
+    'chunk_enable_gain': True,
+    'chunk_selector_timestamp': 'Timestamp',
+    'chunk_enable_timestamp': True,
+}
+
+# Parameters for the primary camera
+primary_cam_parameters = {
+    **shared_cam_parameters,
+    'trigger_mode': 'Off',
+    'line1_selector': 'Line1',
+    'line1_linemode': 'Output',
+    'line2_selector': 'Line2',
+    'line2_v33enable': True,
+}
+
+# Parameters for the secondary camera
+secondary_cam_parameters = {
+    **shared_cam_parameters,
+    'trigger_mode': 'On',
+    'trigger_source': 'Line3',
+    'trigger_selector': 'FrameStart',
+    'trigger_overlap': 'ReadOut',
+}
+
+
+def make_parameters(context):
+    """Generate camera parameters for the driver node."""
+    pd = LaunchConfig('camera_parameter_directory')
+    calib_url = 'file://' + LaunchConfig('calibration_directory').perform(context) + '/'
+
+    exp_ctrl_names = [cam + '.exposure_controller' for cam in camera_list.keys()]
+    driver_parameters = {
+        'cameras': list(camera_list.keys()),
+        'exposure_controllers': exp_ctrl_names,
+        'ffmpeg_image_transport.encoding': 'hevc_nvenc',
+    }
+    # Generate identical exposure controller parameters for all cameras
+    for exp in exp_ctrl_names:
+        driver_parameters.update(
+            {exp + '.' + k: v for k, v in exposure_controller_parameters.items()}
+        )
+    # Set cam0 as master and cam1 as follower
+    driver_parameters[exp_ctrl_names[0] + '.type'] = 'master'
+    driver_parameters[exp_ctrl_names[1] + '.type'] = 'follower'
+    driver_parameters[exp_ctrl_names[1] + '.master'] = exp_ctrl_names[0]
+
+    # Generate camera parameters
+    primary_cam_parameters['parameter_file'] = PJoin([pd, 'blackfly_s.yaml'])
+    secondary_cam_parameters['parameter_file'] = PJoin([pd, 'blackfly_s.yaml'])
+    for cam, serial in camera_list.items():
+        if cam == 'cam0':
+            cam_params = {cam + '.' + k: v for k, v in primary_cam_parameters.items()}
+        else:
+            cam_params = {cam + '.' + k: v for k, v in secondary_cam_parameters.items()}
+        cam_params[cam + '.serial_number'] = serial
+        cam_params[cam + '.camerainfo_url'] = calib_url + serial + '.yaml'
+        cam_params[cam + '.frame_id'] = cam
+        driver_parameters.update(cam_params)
+        driver_parameters.update({cam + '.exposure_controller_name': cam + '.exposure_controller'})
+    return driver_parameters
+
+
+def launch_setup(context, *args, **kwargs):
+    container = ComposableNodeContainer(
+        name='cam_sync_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='spinnaker_synchronized_camera_driver',
+                plugin='spinnaker_synchronized_camera_driver::SynchronizedCameraDriver',
+                name='cam_sync',
+                parameters=[make_parameters(context)],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+        output='screen',
+    )
+    return [container]
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            LaunchArg(
+                'camera_parameter_directory',
+                default_value=PJoin([FindPackageShare('spinnaker_camera_driver'), 'config']),
+                description='Root directory for camera parameter definitions',
+            ),
+            LaunchArg(
+                'calibration_directory',
+                default_value=['camera_calibrations'],
+                description='Root directory for camera calibration files',
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )