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Adding framerate control for Vimba v6 #121

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merged 3 commits into from
May 29, 2023
Merged

Adding framerate control for Vimba v6 #121

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d1312dc
Adding framerate control for Vimva v6
MikoMikarro May 20, 2023
50b8e68
Update AvtVimbaCamera.cfg
MikoMikarro May 25, 2023
ff9d30e
Update Mako_G-319.launch
MikoMikarro May 26, 2023
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1 change: 1 addition & 0 deletions cfg/AvtVimbaCamera.cfg
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Expand Up @@ -160,6 +160,7 @@ exposure_mode_enum = gen.enum([gen.const("Timed", str_t, "Timed", "[Default] Cam
# ACQUISITION
gen.add("acquisition_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
gen.add("acquisition_rate", double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 10, 1, 35)
gen.add("acquisition_rate_enable",bool_t, SensorLevels.RECONFIGURE_RUNNING, "Allows to fix acquisition rate, if available", False)
# TRIGGER
gen.add("trigger_source", str_t, SensorLevels.RECONFIGURE_STOP, "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
gen.add("trigger_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Camera trigger mode", "On", edit_method = trigger_mode_enum)
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2 changes: 2 additions & 0 deletions launch/Mako_G-319.launch
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Expand Up @@ -5,6 +5,7 @@
<arg name="guid" default="" doc="The GUID for the camera to connect to"/>
<arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_example.yaml"/>
<arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
<arg name="acquisition_rate_enable" default="False" doc="Allow fixed camera framerate"/>

<include file="$(find avt_vimba_camera)/launch/mono_camera.launch">
<arg name="name" value="$(arg name)"/>
Expand All @@ -13,6 +14,7 @@
<arg name="guid" value="$(arg guid)"/>
<arg name="camera_info_url" value="$(arg camera_info_url)"/>
<arg name="acquisition_rate" value="$(arg acquisition_rate)"/>
<arg name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>

<!-- Params specific to Mako G-319 -->
<arg name="pixel_format" value="BayerRG8"/>
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2 changes: 2 additions & 0 deletions launch/mono_camera.launch
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Expand Up @@ -17,6 +17,7 @@
<!-- Acquisition -->
<arg name="acquisition_mode" default="Continuous"/>
<arg name="acquisition_rate" default="10"/>
<arg name="acquisition_rate_enable" default="False"/>
<!-- Trigger -->
<arg name="trigger_source" default="FixedRate"/>
<arg name="trigger_mode" default="On"/>
Expand Down Expand Up @@ -93,6 +94,7 @@

<param name="acquisition_mode" value="$(arg acquisition_mode)"/>
<param name="acquisition_rate" value="$(arg acquisition_rate)"/>
<param name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>

<param name="trigger_source" value="$(arg trigger_source)"/>
<param name="trigger_mode" value="$(arg trigger_mode)"/>
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2 changes: 2 additions & 0 deletions launch/mono_camera_nodelet.launch
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Expand Up @@ -14,6 +14,7 @@
<!-- Acquisition -->
<arg name="acquisition_mode" default="Continuous"/>
<arg name="acquisition_rate" default="10"/>
<arg name="acquisition_rate_enable" default="False"/>
<!-- Trigger -->
<arg name="trigger_source" default="FixedRate"/>
<arg name="trigger_mode" default="On"/>
Expand Down Expand Up @@ -93,6 +94,7 @@

<param name="acquisition_mode" value="$(arg acquisition_mode)"/>
<param name="acquisition_rate" value="$(arg acquisition_rate)"/>
<param name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>

<param name="trigger_source" value="$(arg trigger_source)"/>
<param name="trigger_mode" value="$(arg trigger_mode)"/>
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5 changes: 5 additions & 0 deletions src/avt_vimba_camera.cpp
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Expand Up @@ -837,9 +837,14 @@ void AvtVimbaCamera::updateAcquisitionConfig(Config& config)
{
configureFeature("AcquisitionMode", config.acquisition_mode, config.acquisition_mode);
}
if (config.acquisition_rate_enable != config_.acquisition_rate_enable || on_init_)
{
configureFeature("AcquisitionFrameRateEnable", static_cast<bool>(config.acquisition_rate_enable), config.acquisition_rate_enable);
}
if (config.acquisition_rate != config_.acquisition_rate || on_init_)
{
configureFeature("AcquisitionFrameRateAbs", static_cast<float>(config.acquisition_rate), config.acquisition_rate);
configureFeature("AcquisitionFrameRate", static_cast<float>(config.acquisition_rate), config.acquisition_rate); // NEW CAMERAS USE THIS PARAMETER
}
if (config.trigger_mode != config_.trigger_mode || on_init_)
{
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