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magazino / pylon_camera

ROS-Driver for Basler Cameras
BSD 3-Clause "New" or "Revised" License
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Binning and brightness bug #26

Closed xepost closed 7 years ago

xepost commented 7 years ago

Hi,

I think I find a minor bug. I recently got some pylon cameras, when I was playing with the package I tried to use binning and set the brightness to a set value but it does not seem to work. Ii get the following error message.

[ WARN] [1504852077.113283476]: [] name not valid for camera_info_manger [ INFO] [1504852077.141460250]: CameraInfoURL needed for rectification! ROS-Param: '/pylon_camera_node/camera_info_url' = '' is invalid! [ WARN] [1504852077.141528307]: Will only provide distorted /image_raw images! [ INFO] [1504852077.172282456]: Setting horizontal binning_x to 2 [ WARN] [1504852077.172356193]: The image width of the camera_info-msg will be adapted, so that the binning_x value in [ INFO] [1504852077.200125703]: Setting vertical binning_y to 2 [ WARN] [1504852077.200154708]: The image height of the camera_info-msg will be adapted, so that the binning_y value i terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check: n (which is 576240) >= this->size() (which is 576000) [pylon_camera_node-2] process has died [pid 3716, exit code -6, cmd /home/xepost/catkin_ws/devel/lib/pylon_camera/pylolon_camera_node log:=/home/xepost/.ros/log/d93f9a52-945e-11e7-be19-80fa5b351634/pylon_camera_node-2.log]. log file: /home/xepost/.ros/log/d93f9a52-945e-11e7-be19-80fa5b351634/pylon_camera_node-2*.log ^C[rosout-1] killing on exit [master] killing on exit shutting down processing

I change the binning values to binning_x: 1 binning_y: 1 and it starts to work again. Any idea how to fix it?

Thanks!

marc-up commented 7 years ago

Thanks for reporting! You're right this is a logical bug which we didn't think about up to now. The mean brightness of the image is calculated by only taking into account a subset of pixel. This subset is represented as a vector of indices. When changing the image size, this index vector is not recalculated and the access leads to above vector-range-error. I'll think about a solution and will push a fix next week.

xepost commented 7 years ago

Hi Marcel,

If I can come up with some other solution before you do I will let you know, but seems unlikely since I am on a tight schedule.

marc-up commented 7 years ago

I just finished implementing a solution for this issue, but will test it on monday before releasing it.

marc-up commented 7 years ago

I published the changes and would be happy if you can give me some feedback ;-)

xepost commented 7 years ago

Hi Marcel ,

Sorry for the late reply. I have tested with 2 Dart and one Ace model all working fine. My tests were simply compiling and verifying the image acquisition. I will let you know if I can do more tests.