camera_param_publisher.cpp

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/*
 * Copyright (c) 2020 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "camera_param_publisher.h"

#include <rc_genicam_api/pixel_formats.h>
#include <rc_genicam_api/config.h>

namespace rc
{
CameraParamPublisher::CameraParamPublisher(ros::NodeHandle& nh, const std::string& frame_id, bool left,
                                           std::function<void()>& sub_changed)
  : GenICam2RosPublisher(frame_id)
{
  // advertise topic

  sub_callback = sub_changed;

  if (left)
  {
    pub = nh.advertise<rc_common_msgs::CameraParam>("left/camera_param", 1,
                                                    boost::bind(&GenICam2RosPublisher::subChanged, this, _1),
                                                    boost::bind(&GenICam2RosPublisher::subChanged, this, _1));
  }
  else
  {
    pub = nh.advertise<rc_common_msgs::CameraParam>("right/camera_param", 1,
                                                    boost::bind(&GenICam2RosPublisher::subChanged, this, _1),
                                                    boost::bind(&GenICam2RosPublisher::subChanged, this, _1));
  }
}

bool CameraParamPublisher::used()
{
  return pub.getNumSubscribers() > 0;
}

void CameraParamPublisher::requiresComponents(int& components, bool& color)
{
  if (pub.getNumSubscribers() > 0)
  {
    components |= ComponentIntensity;
  }
}

namespace
{

template <class T> inline rc_common_msgs::KeyValue getKeyValue(const char *key, T value)
{
  rc_common_msgs::KeyValue ret;

  ret.key=key;
  ret.value=std::to_string(value);

  return ret;
}

}

void CameraParamPublisher::publish(const rcg::Buffer* buffer, uint32_t part, uint64_t pixelformat)
{
  if (nodemap && pub.getNumSubscribers() > 0 && (pixelformat == Mono8 || pixelformat == YCbCr411_8))
  {
    uint64_t time = buffer->getTimestampNS();

    rc_common_msgs::CameraParam param;

    param.header.frame_id = frame_id;
    param.header.stamp.sec = time / 1000000000ul;
    param.header.stamp.nsec = time % 1000000000ul;

    // get list of all available IO lines and iterate over them to get their
    // LineSource values

    std::vector<std::string> lines;
    rcg::getEnum(nodemap, "ChunkLineSelector", lines, true);
    for (auto&& line : lines)
    {
      rcg::setEnum(nodemap, "ChunkLineSelector", line.c_str(), true);

      rc_common_msgs::KeyValue line_source;
      line_source.key = line;
      line_source.value = rcg::getEnum(nodemap, "ChunkLineSource", true);

      param.line_source.push_back(line_source);
    }

    param.line_status_all = rcg::getInteger(nodemap, "ChunkLineStatusAll", 0, 0, true);

    param.gain = rcg::getFloat(nodemap, "ChunkGain", 0, 0, true);
    param.exposure_time = rcg::getFloat(nodemap, "ChunkExposureTime", 0, 0, true) / 1000000l;

    {
      float noise=rcg::getFloat(nodemap, "ChunkRcNoise", 0, 0, false);
      bool test=rcg::getBoolean(nodemap, "ChunkRcTest", false);

      float out1_reduction=0;

      try
      {
        out1_reduction=rcg::getFloat(nodemap, "ChunkRcOut1Reduction", 0, 0, true);
      }
      catch (const std::exception &)
      {
        // can be removed if sensor version must be >= 20.10.1
        out1_reduction=rcg::getFloat(nodemap, "ChunkRcAdaptiveOut1Reduction", 0, 0, false);
      }

      float brightness=rcg::getFloat(nodemap, "ChunkRcBrightness", 0, 0, false);

      param.extra_data.clear();
      param.extra_data.push_back(getKeyValue("noise", noise));
      param.extra_data.push_back(getKeyValue("test", test));
      param.extra_data.push_back(getKeyValue("out1_reduction", out1_reduction));
      param.extra_data.push_back(getKeyValue("brightness", brightness));
    }

    pub.publish(param);
  }
}

}  // namespace rc