kumarrobotics/camera_base

Some base classes for simplifing ROS camera driver node.

camera_base's Issues

Bottleneck in `CameraRosBase::PublishCamera`

I am using this package in conjunction with bluefox2 package for matrixvision bluefox MLC200wC camera with resolution 752x480. Settings are adjusted so as to acquire images at a rate ~80 FPS. Turns out the method CameraRosBase::PublishCamera takes too long to process images and the max. FPS that I can get is ~35 FPS.

Also, my launch file is following.

test_triggering.launch:

<launch>
    <!-- Start mavros -->
    <include file="$(find mavros)/launch/px4.launch">
        <arg name="fcu_url" value="/dev/ttyOffboard:921600"/>
    </include>

    <!-- Start camera driver -->
    <include file="$(find bluefox2)/launch/single_node.launch">
		<arg name="record_cameras" value="false"/>
		<arg name="expose_us" value="10000"/>
		<arg name="rate" value="150"/>
    </include>

</launch>

single_node.launch:

<launch>
    <!-- Common Interface -->
    <arg name="device" default="26807563"/>
    <arg name="rate" default="15"/>

    <!-- Record data? -->
    <arg name="record_cameras" default="true"/>

    <!-- Camera Settings -->
    <arg name="serial" default="$(arg device)"/>
    <arg name="camera_name" default="camera_0"/>
    <arg name="camera" default="$(arg camera_name)"/>
    <arg name="frame_id" default="$(arg camera)"/>
    <arg name="calib_url" default="file://${ROS_HOME}/camera_info/$(arg camera_name).yaml"/>
    <arg name="fps" default="$(arg rate)"/>

    <arg name="idpf" default="2"/>
    <arg name="aec" default="false"/>
    <arg name="expose_us" default="15000"/>
    <arg name="agc" default="true"/>
    <arg name="gain_db" default="0.0"/>
    <arg name="cbm" default="0"/>
    <arg name="dcfm" default="0"/>
    <arg name="cpc" default="40000"/>
    <arg name="hdr" default="false"/>
    <arg name="wbp" default="-1"/>
    <arg name="request" default="0"/>
    <arg name="mm" default="0"/>
    <arg name="jpeg_quality" default="80"/>

    <!-- Trigger mode (ctm): 1=on demand (default), 3=hardware trigger -->     
    <arg name="ctm" default="3"/> 
    <arg name="cts" default="0"/>

    <!-- Node Settings -->
    <arg name="output" default="screen"/>
    <arg name="proc" default="false"/>
    <arg name="view" default="true"/>
    <arg name="calib" default="false"/>

    <!-- Node -->
    <node pkg="bluefox2" type="bluefox2_single_node" name="$(arg camera)" output="$(arg output)" ns="hawk">
        <param name="identifier" type="string" value="$(arg serial)"/>
        <param name="frame_id" type="string" value="$(arg frame_id)"/>
        <param name="camera_name" type="string" value="$(arg camera_name)"/>
        <param name="calib_url" type="string" value="$(arg calib_url)"/>
        <param name="fps" type="double" value="$(arg fps)"/>
        <param name="idpf" type="int" value="$(arg idpf)"/>
        <param name="aec" type="bool" value="$(arg aec)"/>
        <param name="expose_us" type="int" value="$(arg expose_us)"/>
        <param name="agc" type="bool" value="$(arg aec)"/>
        <param name="gain_db" type="double" value="$(arg gain_db)"/>
        <param name="cbm" type="int" value="$(arg cbm)"/>
        <param name="ctm" type="int" value="$(arg ctm)"/>
        <param name="cpc" type="int" value="$(arg cpc)"/>
        <param name="cts" type="int" value="$(arg cts)"/>
        <param name="dcfm" type="int" value="$(arg dcfm)"/>
        <param name="hdr" type="bool" value="$(arg hdr)"/>
        <param name="wbp" type="int" value="$(arg wbp)"/>
        <param name="request" type="int" value="$(arg request)"/>
        <param name="mm" type="int" value="$(arg mm)"/>
        <param name="image_raw/compressed/jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
    </node>

    <!-- View -->
    <arg name="image" default="image_raw"/>
    <node if="$(arg view)"
        pkg="image_view" type="image_view" name="viewer" ns="hawk/$(arg camera)"
        args="image:=$(arg image)" output="$(arg output)">
    </node>

</launch>

So, my question is, are any methods tried that can overcome this bottleneck and acquire images at high frame rate (atleast 70)?

usage of this package

Hi.
I would like to write a ros driver for this camera:
http://www.uctronics.com/arducam-cmos-ar0134-1-3-inch-1-2mp-color-camera-module.html
which is used togheter with its shield:
http://www.uctronics.com/arducam-usb-camera-shield.html

Do you think I could use this package in order to create a ros wrapper/driver?
Any hint?
Thank you!