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Extend-Robotics / camera_aravis

A ROS1 driver for GenICam based GigE and USB3 cameras.
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ROI doesn't account for streams/substreams #18

Closed bmegli closed 1 year ago

bmegli commented 1 year ago

In existing implementation same ROI is shared all streams and substreams.

This doesn't need to be the case for real device.

bmegli commented 1 year ago

Problem happens for Photoneo MotionCam3D when trying to pull raw CameraImage component

It has different resolution compared to other substreams

bmegli commented 1 year ago

I don't know generic way (device independent) to solve this at init time.

But we can adapt ROI when receiving the data and warn the user if there is mismatch with originally initialized.

bmegli commented 1 year ago

This is enough to receive Photoneo ColorCamera raw image which has different size than other components

[ WARN] [1691258666.034166225]: Initial ROI for stream 0 substream 1 doesn't match received data ROI
reinitializing to: x=0 y=0 width=1932 height=1096

image