rc_genicam_camera

This nodelet permits access to the configuration of a GenICam compatible camera and publishes raw images and camera_info messages according to the ROS image pipeline.

Configuration

Parameters

Parameters to be set to the ROS param server before run-time.

<name>=<value> sets the given value to the parameter with the given name. It
must not contain a white space.
<name> Calls the GenICam command with the given name. The name must
not contain any white space.
# ... \n Comment which is skipped.

Processing stops on the first error, which is reported in the logfile.

# Calibration matrix
camera{.<id>}.A=[<fx> <skew> <u0>; 0 <fy> <v0>; 0 0 1]
camera{.<id>}.width=<w>
camera{.<id>}.height=<h>
# Optional parameters for radial and tangential distortion. Missing
# parameters are assumed to be 0
camera{.<id>}.k1=<k1>
camera{.<id>}.k2=<k2>
camera{.<id>}.k3=<k3>
camera{.<id>}.p1=<p1>
camera{.<id>}.p2=<p2>
# Alternative optional parameters for equidistant distortion model
camera{.<id>}.e1=<e1>
camera{.<id>}.e2=<e2>
camera{.<id>}.e3=<e3>
camera{.<id>}.e4=<e4>
# Extrinsic position of orientation of camera (only relevant for stereo,
# i.e. if <id> is given). The extrinsic transformations are defined by
# Pw = camera.0.R * P0 + camera.0.T and Pw = camera.1.R * P1 + camera.1.T
camera{.<id>}.R=[<r00> <r01> <r02>; <r10> <r11> <r12>; <r20> <r21> <r22>]
camera{.<id>}.T=[<tx> <ty> <tz>]
# Optionally the focal length in pixel for rectification. By default, the
# focal length is computed as average of <fx> and <fy>.
rect.f=<f>

<id> is the number that is specified by calib_id. If it is 0 or 1, then the extrinsic relationship camera.0.R, camera.0.T and camera.1.R, camera.1.T is used for defining the rectification rotation matrix in CameraInfo.

Parameters for Synchronization

The following parameters are used for receiving and associating the time stamp from the camera info of a hardware synchronized master camera that is synchronized to the system clock.

Subscribed Topics

If the sync_info parameter is defined, then its value is used as name of a topic that provides CameraInfo messages. The timestamp of these messages are used for the images.

Provided Topics

The following topics are provided:

Services

The following service offers the possibility to request the value of a GenICam parameter:

The following service offers the possibility to set GenICam parameters:

Launching



rc_genicam_camera
Author(s): Heiko Hirschmueller
autogenerated on Fri Feb 12 2021 03:30:11