[humble] A700 ros2 humble config

[HBSIM0]

System details

• operating system/version: ubuntu22.04
• ROS version : ros2 humble
• camera model: A700

Can I also use the A700 thermal imaging camera with this package? Can someone provide me the A700 yaml information

[berndpfrommer]

It should work, since the spinnaker SDK is supported according to FLIR's web site. However, you will have to write your own yaml file. Not too many people have a $12k camera. Writing a file is not that hard, instructions are here. Start with a blackfly_s config file and fix what is broken. Please report back if you had success, or even better, post a working config file or submit a pull request with a working config.

[HBSIM0]

I tried working after fixing the confiure file and the thermal camera looks like a black and white screen. Can I get some advice?

my config is below 'a700': { 'debug': False, 'compute_brightness': False, 'adjust_timestamp': True, 'dump_node_map': False,

set parameters defined in blackfly_s.yaml

    'gain_auto': 'Continuous',
    'pixel_format': 'Mono16',
    'exposure_auto': 'Continuous',
    # to use a user set, do this:
    'user_set_selector': 'UserSet0',
    'user_set_load': 'Yes',
    # These are useful for GigE cameras
    # 'device_link_throughput_limit': 380000000,
    # 'gev_scps_packet_size': 9000,
    # ---- to reduce the sensor width and shift the crop
    # 'image_width': 1408,
    # 'image_height': 1080,
    # 'offset_x': 16,
    # 'offset_y': 0,
    # 'binning_x': 1,
    # 'binning_y': 1,
    # 'connect_while_subscribed': True,
    'frame_rate_auto': 'Off',
    'frame_rate': 40.0,
    'frame_rate_enable': True,
    'buffer_queue_size': 10,
    'trigger_mode': 'Off',
    'chunk_mode_active': True,
    'chunk_selector_frame_id': 'FrameID',
    'chunk_enable_frame_id': True,
    'chunk_selector_exposure_time': 'ExposureTime',
    'chunk_enable_exposure_time': True,
    'chunk_selector_gain': 'Gain',
    'chunk_enable_gain': True,
    'chunk_selector_timestamp': 'Timestamp',
    'chunk_enable_timestamp': True,
},

[berndpfrommer]

Congratulations, you got an image, and the image looks reasonable to me. I suppose increased image brightness is related to higher temperature. The ROS2 driver does not provide a false color image like the hand-held FLIR cameras do. If you want that you will need to write a node that subscribes to the mono image, and maps grey value to color.

[berndpfrommer]

Can you post your .yaml file (or submit a PR with it)

[HBSIM0]

Is it not possible for ros2 driver to show the color of thermal mode? Does it have to be implemented by the user? a700 supports thermal mode and digital mode. Please refer to the picture below that you ran on the webpage.

a700.yaml

parameters:

• name: default_user_set type: enum node: UserSetControl/DefaultUserSet

• name: user_set_selector type: enum

  node: UserSetControl/UserSetSelector

• name: user_set_load type: command node: UserSetControl/UserSetLoad

• name: pixel_format type: enum node: ImageFormatControl/PixelFormat

• name: binning_x type: int node: ImageFormatControl/BinningHorizontal

• name: binning_y type: int node: ImageFormatControl/BinningVertical

• name: image_width type: int node: ImageFormatControl/Width

• name: image_height type: int node: ImageFormatControl/Height

• name: offset_x # offset must come after image width reduction! type: int node: ImageFormatControl/OffsetX

• name: offset_y type: int node: ImageFormatControl/OffsetY

• name: image_mode type: enum node: ImageFormatControl/ImageMode

• name: gain_auto type: enum node: AnalogControl/GainAuto

• name: gain type: float node: AnalogControl/Gain

• name: device_link_throughput_limit type: int node: DeviceControl/DeviceLinkThroughputLimit

• name: gev_scps_packet_size type: int node: TransportLayerControl/GigEVision/GevSCPSPacketSize

• name: line0_selector # black wire: opto-isolated input type: enum node: DigitalIOControl/LineSelector

• name: line1_selector # white wire: opto-isolated output type: enum node: DigitalIOControl/LineSelector

• name: line1_linemode # valid values: "Input", "Output" type: enum node: DigitalIOControl/LineMode

• name: line2_selector # red wire: non-isolated input/output type: enum node: DigitalIOControl/LineSelector

• name: line2_v33enable # red wire: 3.3V power type: bool node: DigitalIOControl/V3_3Enable

• name: line3_selector # green wire: aux voltage input and non-isolated input type: enum node: DigitalIOControl/LineSelector

• name: line3_linemode # valid values: "Input", "Output" type: enum node: DigitalIOControl/LineMode

• name: exposure_auto type: enum node: AcquisitionControl/ExposureAuto

• name: exposure_time type: float node: AcquisitionControl/ExposureTime

• name: frame_rate_enable type: bool node: AcquisitionControl/AcquisitionFrameRateEnable

• name: frame_rate type: float node: AcquisitionControl/AcquisitionFrameRate

• name: trigger_selector type: enum node: AcquisitionControl/TriggerSelector

• name: trigger_mode type: enum node: AcquisitionControl/TriggerMode

• name: trigger_source type: enum node: AcquisitionControl/TriggerSource

• name: trigger_delay type: float node: AcquisitionControl/TriggerDelay

• name: trigger_overlap type: enum

  node: AcquisitionControl/TriggerOverlap

• name: trigger_activation type: enum node: AcquisitionControl/TriggerActivation

• name: chunk_mode_active type: bool node: ChunkDataControl/ChunkModeActive

• name: chunk_selector_frame_id type: enum node: ChunkDataControl/ChunkSelector

• name: chunk_enable_frame_id type: bool node: ChunkDataControl/ChunkEnable

• name: chunk_selector_exposure_time type: enum node: ChunkDataControl/ChunkSelector

• name: chunk_enable_exposure_time type: bool node: ChunkDataControl/ChunkEnable

• name: chunk_selector_gain type: enum node: ChunkDataControl/ChunkSelector

• name: chunk_enable_gain type: bool node: ChunkDataControl/ChunkEnable

• name: chunk_selector_timestamp type: enum node: ChunkDataControl/ChunkSelector

• name: chunk_enable_timestamp type: bool node: ChunkDataControl/ChunkEnable

[berndpfrommer]

You are using some web software that I'm not familiar with. Can you switch between Thermal and Color (RGB) image in SpinView as well? But I'm not sure if you are even interested in the color (RGB) image, or if you just want the colorized thermal image shown in the second picture you posted. There are color controls at the side of the window. The question now is: is the colorization done by the web application you are using, or is the colorization done already on the camera itself? Does SpinView offer any parameters (more precisely: GenICam nodes) to change the coloration? If yes, then we may be able to get the color image via the ROS driver, if not, then you may have to write a greyscale -> pseudocolor conversion node yourself.