Camera Pipeline Optimization

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "macos-clang-arm64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "/usr/bin/clang",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "macos-clang-arm64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,13 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "lldb",
+      "request": "launch",
+      "args": [],
+      "cwd": "/Users/michaelwu/Desktop/projects/avt_vimba_camera/avt_vimba_camera/src",
+      "program": "/Users/michaelwu/Desktop/projects/avt_vimba_camera/avt_vimba_camera/src/build/Debug/outDebug"
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,59 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "clang",
+  "C_Cpp_Runner.cppCompilerPath": "clang++",
+  "C_Cpp_Runner.debuggerPath": "lldb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false
+}

avt_vimba_camera/CMakeLists.txt

@@ -11,6 +11,7 @@ endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(OpenCV REQUIRED)
+find_package(camera_info_manager REQUIRED)
 
 ament_auto_find_build_dependencies()
 
@@ -57,6 +58,19 @@ ament_auto_add_library(mono_camera_node SHARED
 )
 add_dependencies_and_linkings(mono_camera_node)
 
+# Register the component
+rclcpp_components_register_nodes(mono_camera_node 
+  "avt_vimba_camera::MonoCameraNode")
+
+
+ament_auto_add_library(image_subscriber_node SHARED
+  src/image_subscriber_node.cpp
+)
+
+# Add this line after the library definition
+rclcpp_components_register_nodes(image_subscriber_node 
+  "avt_vimba_camera::ImageSubscriberNode")
+
 ament_auto_add_library(trigger_node SHARED
   src/trigger_node.cpp
 )
@@ -66,10 +80,33 @@ add_dependencies_and_linkings(trigger_node)
 ament_auto_add_executable(mono_camera_exec
   src/exec/mono_camera_exec.cpp
 )
+target_link_libraries(mono_camera_exec
+  mono_camera_node
+)
 
 ament_auto_add_executable(trigger_exec
   src/exec/trigger_exec.cpp
 )
+target_link_libraries(trigger_exec
+  trigger_node
+)
+
+# Add the intra-process executable
+ament_auto_add_executable(intra_process_exec
+  src/exec/intra_process_exec.cpp
+)
+target_link_libraries(intra_process_exec
+  mono_camera_node
+  image_subscriber_node
+)
+
+# Add the image subscriber executable
+ament_auto_add_executable(image_subscriber_exec
+  src/exec/image_subscriber_exec.cpp
+)
+target_link_libraries(image_subscriber_exec
+  image_subscriber_node
+)
 
 #############
 ## Install ##

avt_vimba_camera/config/params.yaml

@@ -1,116 +1,119 @@
-# This file is an example of the kind of parameters you can edit with your AVT camera.
-# Note that your camera will likely have different defaults.
-# Most of them are commented out, since the driver will use the configs already in the camera by default.
-# See the README for more details.
-
 /**:
   ros__parameters:
+    name: camera
+    frame_id: "vimba_front"
+    ip: '10.42.7.51'
+    guid: ''
+    use_measurement_time: false
+    ptp_offset: 0
+    publish_compressed: false
     feature/AcquisitionFrameCount: 1
-    feature/AcquisitionFrameRateAbs: 10.0
-    # feature/AcquisitionMode: Continuous
-    # feature/ActionDeviceKey: 0
-    # feature/ActionGroupKey: 0
-    # feature/ActionGroupMask: 0
-    # feature/ActionSelector: 0
-    # feature/BalanceRatioAbs: 2.33
-    # feature/BalanceRatioSelector: Red
-    # feature/BalanceWhiteAuto: 'Off'
-    # feature/BalanceWhiteAutoAdjustTol: 5
-    # feature/BalanceWhiteAutoRate: 100
-    # feature/BandwidthControlMode: StreamBytesPerSecond
+    # feature/AcquisitionFrameRateAbs: 10.0
+    feature/AcquisitionMode: Continuous
+    feature/ActionDeviceKey: 0
+    feature/ActionGroupKey: 0
+    feature/ActionGroupMask: 0
+    feature/ActionSelector: 0
+    feature/BalanceRatioAbs: 2.0
+    feature/BalanceRatioSelector: Red
+    feature/BalanceWhiteAuto: 'Off'
+    feature/BalanceWhiteAutoAdjustTol: 5
+    feature/BalanceWhiteAutoRate: 100
+    feature/BandwidthControlMode: StreamBytesPerSecond
     # feature/BinningHorizontal: 1
     # feature/BinningVertical: 1
-    # feature/BlackLevel: 4.0
-    # feature/BlackLevelSelector: All
-    # feature/ChunkModeActive: false
-    # feature/ColorTransformationMode: 'Off'
-    # feature/ColorTransformationSelector: RGBtoRGB
-    # feature/ColorTransformationValue: 1.0
-    # feature/ColorTransformationValueSelector: Gain00
-    # feature/DSPSubregionBottom: 1544
+    feature/BlackLevel: 50.0
+    feature/BlackLevelSelector: All
+    feature/ChunkModeActive: false
+    feature/ColorTransformationMode: 'Off'
+    feature/ColorTransformationSelector: RGBtoRGB
+    feature/ColorTransformationValue: 1.0
+    feature/ColorTransformationValueSelector: Gain00
+    # feature/DSPSubregionBottom: 490
     # feature/DSPSubregionLeft: 0
-    # feature/DSPSubregionRight: 2064
-    # feature/DSPSubregionTop: 0
-    # feature/DecimationHorizontal: 1
-    # feature/DecimationVertical: 1
-    # feature/DeviceTemperatureSelector: Main
-    # feature/DeviceUserID: ''
-    # feature/EventNotification: 'Off'
-    # feature/EventSelector: AcquisitionStart
-    # feature/EventsEnable1: 0
-    # feature/ExposureAuto: 'Off'
+    # feature/DSPSubregionRight: 1032
+    # feature/DSPSubregionTop: 275
+    feature/DecimationHorizontal: 1
+    feature/DecimationVertical: 1
+    feature/DeviceTemperatureSelector: Main
+    feature/DeviceUserID: ''
+    feature/EventNotification: 'Off'
+    feature/EventSelector: AcquisitionStart
+    feature/EventsEnable1: 0
+    feature/ExposureAuto: 'Off'
     # feature/ExposureAutoAdjustTol: 5
-    # feature/ExposureAutoAlg: Mean
-    # feature/ExposureAutoMax: 499997
+    # feature/ExposureAutoAlg: FitRange
+    # feature/ExposureAutoMax: 30000
     # feature/ExposureAutoMin: 29
-    # feature/ExposureAutoOutliers: 0
-    # feature/ExposureAutoRate: 100
+    # feature/ExposureAutoOutliers: 1000
+    # feature/ExposureAutoRate: 10
     # feature/ExposureAutoTarget: 50
     # feature/ExposureMode: Timed
-    # feature/ExposureTimeAbs: 15005.0
+    feature/ExposureTimeAbs: 493.0
     # feature/GVCPCmdRetries: 5
     # feature/GVCPCmdTimeout: 250
     # feature/GVSPBurstSize: 1
     # feature/GVSPDriver: Socket
-    # feature/GVSPHostReceiveBufferSize: 67108864
+    # feature/GVSPHostReceiveBufferSize: 10240
     # feature/GVSPMaxLookBack: 30
     # feature/GVSPMaxRequests: 1
     # feature/GVSPMaxWaitSize: 100
     # feature/GVSPMissingSize: 256
     # feature/GVSPPacketSize: 9014
     # feature/GVSPTiltingSize: 100
     # feature/GVSPTimeout: 70
-    # feature/Gain: 0.0
-    # feature/GainAuto: 'Off'
-    # feature/GainAutoAdjustTol: 5
-    # feature/GainAutoMax: 40.0
-    # feature/GainAutoMin: 0.0
-    # feature/GainAutoOutliers: 0
-    # feature/GainAutoRate: 100
-    # feature/GainAutoTarget: 50
-    # feature/GainSelector: All
-    # feature/Gamma: 1.0
+    feature/Gain: 0.0
+    feature/GainAuto: 'Continuous'
+    feature/GainAutoAdjustTol: 5
+    feature/GainAutoMax: 32.0
+    feature/GainAutoMin: 0.0
+    feature/GainAutoOutliers: 100
+    feature/GainAutoRate: 50
+    feature/GainAutoTarget: 50
+    feature/GainSelector: All
+    feature/Gamma: 1.0
     # feature/GevHeartbeatInterval: 1450
     # feature/GevHeartbeatTimeout: 3000
     # feature/GevSCPSPacketSize: 9014
-    # feature/Height: 1544
-    # feature/Hue: 0.0
-    # feature/LUTEnable: false
-    # feature/LUTIndex: 0
-    # feature/LUTMode: Luminance
-    # feature/LUTSelector: LUT1
-    # feature/LUTValue: 4095
-    # feature/MulticastEnable: false
-    # feature/MulticastIPAddress: 823132143
-    # feature/OffsetX: 0
-    # feature/OffsetY: 0
-    # feature/PixelFormat: BayerRG8
-    # feature/PtpAcquisitionGateTime: 0
-    # feature/PtpMode: 'Off'
-    # feature/RecorderPreEventCount: 0
-    # feature/ReverseX: false
-    # feature/ReverseY: false
-    # feature/Saturation: 1.0
-    # feature/StreamBufferHandlingMode: Default
-    # feature/StreamBytesPerSecond: 115000000
-    # feature/StreamFrameRateConstrain: true
-    # feature/StreamHoldEnable: 'Off'
-    # feature/StrobeDelay: 0
-    # feature/StrobeDuration: 0
-    # feature/StrobeDurationMode: Source
-    # feature/StrobeSource: FrameTrigger
-    # feature/SyncInGlitchFilter: 0
-    # feature/SyncInSelector: SyncIn1
-    # feature/SyncOutLevels: 0
-    # feature/SyncOutPolarity: Normal
-    # feature/SyncOutSelector: SyncOut1
-    # feature/SyncOutSource: Exposing
-    # feature/TriggerActivation: RisingEdge
-    # feature/TriggerDelayAbs: 0.0
-    # feature/TriggerMode: 'On'
-    # feature/TriggerOverlap: 'Off'
-    # feature/TriggerSelector: FrameStart
+    feature/Height: 772
+    feature/Hue: 0.0
+    feature/LUTEnable: false
+    feature/LUTIndex: 0
+    feature/LUTMode: Luminance
+    feature/LUTSelector: LUT1
+    feature/LUTValue: 4095
+    feature/MulticastEnable: false
+    feature/MulticastIPAddress: 4026470193
+    feature/OffsetX: 0
+    feature/OffsetY: 0
+    feature/PixelFormat: RGB8Packed
+    feature/PtpAcquisitionGateTime: 0
+    feature/PtpMode: 'Auto'
+    feature/RecorderPreEventCount: 0
+    feature/ReverseX: false
+    feature/ReverseY: false
+    feature/Saturation: 1.0
+    feature/StreamBufferHandlingMode: Default
+    feature/StreamBytesPerSecond: 12400000
+    feature/StreamFrameRateConstrain: true
+    feature/StreamHoldEnable: 'Off'
+    feature/StrobeDelay: 0
+    feature/StrobeDuration: 0
+    feature/StrobeDurationMode: Source
+    feature/StrobeSource: FrameTrigger
+    feature/SyncInGlitchFilter: 0
+    feature/SyncInSelector: SyncIn1
+    feature/SyncOutLevels: 0
+    feature/SyncOutPolarity: Normal
+    feature/SyncOutSelector: SyncOut1
+    feature/SyncOutSource: Exposing
+    feature/TriggerActivation: RisingEdge
+    feature/TriggerDelayAbs: 0.0
+    feature/TriggerMode: 'On'
+    feature/TriggerOverlap: 'Off'
+    feature/TriggerSelector: FrameStart
     feature/TriggerSource: FixedRate
-    # feature/UserSetDefaultSelector: Default
-    # feature/UserSetSelector: Default
-    # feature/Width: 2064
+    feature/UserSetDefaultSelector: Default
+    feature/UserSetSelector: Default
+    feature/Width: 1032
+

avt_vimba_camera/include/VimbaCPP/Include/Feature.hpp

@@ -137,7 +137,7 @@ inline VmbErrorType Feature::GetValue( std::string &rStrValue ) const
     VmbErrorType    res;
     VmbUint32_t     nLength;
 
-    res = GetValue( (char * const)NULL, nLength );
+    res = GetValue( static_cast<char*>(nullptr), nLength );
     if ( VmbErrorSuccess == res )
     {
         if ( 0 != nLength )