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KumarRobotics / flir_gige

A ros driver for flir ax5 gige thermal camera
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FlirGigeDynConfig.h missing #4

Open ykhedar opened 8 years ago

ykhedar commented 8 years ago

FlirGigeDynConfig.h is missing from the master branch.

versatran01 commented 8 years ago

This file is supposed to be auto-generated and placed in your catkin devel folder.

ykhedar commented 8 years ago

Okay thanks.

ykhedar commented 8 years ago

Hi Chao, I was able to compile the package along with the camera_base package. Now first I am launching the node as specified in the readme. I have changed the IP of the camera in the node.launch & nodelet.launch file to my cameras IP. But when I launch the node.launch I get a warning that calib URL not found.

`SUMMARY

PARAMETERS

NODES / thermal (flir_gige/flir_gige_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[thermal-1]: started with pid [9153] [ INFO] [1465310797.259526291]: /thermal: Initializing reconfigure server [ INFO] [1465310798.986901458]: using default calibration URL [ INFO] [1465310798.987011439]: camera calibration URL: file:///home/ankommen/.ros/camera_info/flir_ax5.yaml [ INFO] [1465310798.987084606]: Unable to open camera calibration file [/home/ankommen/.ros/camera_info/flir_ax5.yaml] [ WARN] [1465310798.987119291]: Camera calibration file /home/ankommen/.ros/camera_info/flir_ax5.yaml not found.`

Now after this nothing happens. If this is not a problem how do I see the images from my camera.

ykhedar commented 8 years ago

The camera node is publishing the images, which I was able to sibscribe to using image_view package. So I think I will read something about calibration thing. But it would be great if you could guide me to, how do I reconfigure my device.

versatran01 commented 8 years ago

The loading of calibration file is handled by camera info manager. If there is a calibration file, it will be loaded, otherwise a default one will be published. If you don't need the calibration, then you can just let it be and there's no problem in image acquisition. However, if you do need to calibrate the thermal camera for some purposes (say overlay that onto color image) then you need to make a special calibration board and calibrate the thermal camera using ros camera calibration.

ykhedar commented 8 years ago

Thanks a lot for your quick revert.

ykhedar commented 8 years ago

Hi, Is it necessary to calibrate the camera before using this code? Because when i try to subscribe to processed image i get the error that camera is not calibrated. Below is the error msg with launch information. ` ankommen@ankommen-desktop:~/catkin_ws$ roslaunch flir_gige thermal_proc.launch ... logging to /home/ankommen/.ros/log/41c59ace-317b-11e6-91ba-b8aeed79a944/roslaunch-ankommen-desktop-16751.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ankommen-desktop:46843/

SUMMARY

PARAMETERS

NODES /thermal/ thermal_proc (flir_gige/thermal_proc_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[thermal/thermal_proc-1]: started with pid [16769] [ INFO] [1465834188.941318645]: /thermal/thermal_proc: Initializaing reconfigure server [ERROR] [1465834357.187511920]: Topic '/thermal/image_proc' requested but camera publishing '/thermal/camera_info' is uncalibrated `

versatran01 commented 8 years ago

The thermal proc node does the following thing:

  1. when input image is 8-bit, it just converts it to jet color map
  2. when input image is 16-bit, it also converts it to jet but with proper scaling It is for visualization only, is this what you want?
ykhedar commented 8 years ago

Thanks for the clarification. I was able to run the thermal node for visualisation but my doubt still is, do we really need camera calibration (I am using FLIR A65X camera)? Since this is a thermal camera the calibration picture generated won't be recognised by it. I tried it and the camera was not able to find black dots from the image.

versatran01 commented 8 years ago

I was using camera calibration to store some constants required to convert 16-bit raw to temperature. I'm not sure those constants will remain the same or not, thus I put put them in calibration. If you never need the actually temperature from the camera, then I assume camera calibration info is not needed.

ykhedar commented 8 years ago

Okay, I understand now. I will be using the default values of B,F,O,.....constants since I guess the temperature accuracy won't be that bad for my application. I will re-visit the calibration issue later, if required. Thanks for your help, really appreciate it.