Fix some bug:refer to README for details

.vscode/c_cpp_properties.json

@@ -0,0 +1,23 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/fredlyu/driver/ws_spinnaker/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/fredlyu/driver/ws_spinnaker/src/spinnaker_camera_driver/include",
+        "/opt/spinnaker/include",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,16 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/fredlyu/driver/ws_spinnaker/devel/lib/python3/dist-packages",
+        "/home/fredlyu/driver/ws_orbbec/devel/lib/python3/dist-packages",
+        "/home/fredlyu/slam/ws_livox_ros_driver_for_r3live/devel/lib/python3/dist-packages",
+        "/home/fredlyu/slam/ws_kalibr/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/fredlyu/driver/ws_spinnaker/devel/lib/python3/dist-packages",
+        "/home/fredlyu/driver/ws_orbbec/devel/lib/python3/dist-packages",
+        "/home/fredlyu/slam/ws_livox_ros_driver_for_r3live/devel/lib/python3/dist-packages",
+        "/home/fredlyu/slam/ws_kalibr/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

README.md

@@ -1,3 +1,12 @@
+适配了Ubuntu20.04以及Opencv3以上版本；该仓库所用SpinnakerSDK版本为3.0.0.118
+主要修改了以下部分：
+ - opencv: cv.h -> opencv2.opencv.hpp
+ - opencv: cvDestroyAllWindows -> destroyAllWindows()
+ - opencv: CV_WINDOW_NORMAL -> WINDOW_NORMAL
+ - opencv: CV_WINDOW_KEEPRATIO -> WINDOW_KEEPRATIO
+ - spinnakerSDK: ImagePtr::Convert() -> ImageProcessor::Convert()
+ - 修改了硬触发外部通道: Line3 -> Line0(Opto-isolated input)(capture.cpp:748-749)
+------------------------------------------------------------------------------
 master: 
 [![Build Status](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver.svg?branch=master)](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver)
 dev: [![Build Status](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver.svg?branch=dev)](https://travis-ci.org/neufieldrobotics/spinnaker_sdk_camera_driver)

include/spinnaker_sdk_camera_driver/std_include.h

@@ -6,7 +6,7 @@
 #include "SpinGenApi/SpinnakerGenApi.h"
 
 // OpenCV
-#include <cv.h>
+#include <opencv2/opencv.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
 // ROS

launch/acquisition.launch

@@ -4,9 +4,9 @@
 
   <!-- acquisition spinnaker params-->
   <arg name="binning"           default="1"      doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
-  <arg name="color"             default="false"  doc="Should color images be used (only works on models that support color images)"/>
+  <arg name="color"             default="true"  doc="Should color images be used (only works on models that support color images)"/>
   <arg name="exposure_time"     default="0"      doc="Exposure_time setting for cameras"/>
-  <arg name="external_trigger"  default="false"  doc="External trigger (No camera is master)"/>
+  <arg name="external_trigger"  default="true"  doc="External trigger (No camera is master)"/>
   <arg name="gain"              default="0"      doc="Gain setting. Gain should be positive (full range - 0 - 18 dB for blackfly-s camera) 
                                                       or zero (auto gain). if gain > max, it will be set to max allowed value.
                                                       Default is 0, auto gain which is set according to target grey value or autoexposure settings"/>

launch/acquisition_external_trigger.launch

@@ -4,7 +4,7 @@
 
   <!-- acquisition spinnaker params-->
   <arg name="binning"           default="1"      doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
-  <arg name="color"             default="false"  doc="Should color images be used (only works on models that support color images)"/>
+  <arg name="color"             default="true"  doc="Should color images be used (only works on models that support color images)"/>
   <arg name="exposure_time"     default="0"      doc="Exposure_time setting for cameras"/>
   <arg name="external_trigger"  default="true"   doc="External trigger (No camera is master)"/>
   <arg name="gain"              default="0"      doc="Gain setting. Gain should be positive (full range - 0 - 18 dB for blackfly-s camera) 

launch/node_acquisition.launch

@@ -5,7 +5,7 @@
   <!-- acquisition.launch -->
 
   <arg name="binning"		    default="1"	doc="Binning for cameras, when changing from 2 to 1 cameras need to be unplugged and replugged"/>
-  <arg name="color"		        default="false"	doc="Should color images be used (only works on models that support color images)"/>
+  <arg name="color"		        default="true"	doc="Should color images be used (only works on models that support color images)"/>
   <arg name="exposure_time"     default="0" doc="Exposure_time setting for cameras"/>
   <arg name="external_trigger"  default="false"	doc="External trigger (No camera is master)"/>
   <arg name="target_grey_value"   default="0"   doc="AutoExposureTargetGreyValue min: 4 max: 99 if set below 4, AutoExposureTargetGreyValueAuto will be set to continuous(auto) also available as dynamic reconfigurable parameter" />

params/external_trigger_params.yaml

@@ -1,5 +1,5 @@
 cam_ids:
-- 17197559
+- 22240274
 cam_aliases:
 - cam0
 skip: 20

params/test_params.yaml

@@ -1,8 +1,8 @@
 cam_ids:
-- 17197559
+- 22240274
 cam_aliases:
 - cam0
-master_cam: 17197559
+master_cam: 22240274
 skip: 20
 delay: 1.0
 

src/camera.cpp

@@ -103,9 +103,17 @@ Mat acquisition::Camera::convert_to_mat(ImagePtr pImage) {
 
     ImagePtr convertedImage;
     if (COLOR_)
-        convertedImage = pImage->Convert(PixelFormat_BGR8); //, NEAREST_NEIGHBOR);
+    {
+        // convertedImage = pImage->Convert(PixelFormat_BGR8); //, NEAREST_NEIGHBOR);
+        ImageProcessor processor;
+        convertedImage = processor.Convert(pImage, PixelFormat_BGR8);
+    }
     else
-		convertedImage = pImage->Convert(PixelFormat_Mono8); //, NEAREST_NEIGHBOR);
+    {
+        ImageProcessor processor;
+        convertedImage = processor.Convert(pImage, PixelFormat_Mono8);
+    }
+
     unsigned int XPadding = convertedImage->GetXPadding();
     unsigned int YPadding = convertedImage->GetYPadding();
     unsigned int rowsize = convertedImage->GetWidth();

src/capture.cpp

@@ -745,8 +745,8 @@ void acquisition::Capture::init_cameras(bool soft = false) {
                         // in master slave setup. Also in the mode when another sensor such as IMU triggers 
                         // the camera
                     cams[i].setEnumValue("TriggerMode", "On");
-                    cams[i].setEnumValue("LineSelector", "Line3");
-                    cams[i].setEnumValue("TriggerSource", "Line3");
+                    cams[i].setEnumValue("LineSelector", "Line0");
+                    cams[i].setEnumValue("TriggerSource", "Line0");
                     cams[i].setEnumValue("TriggerSelector", "FrameStart");
                     cams[i].setEnumValue("LineMode", "Input");
 
@@ -996,8 +996,8 @@ void acquisition::Capture::run_soft_trig() {
     start_acquisition();
 
     // Camera directories created at first save
-    
-    if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
+
+    if (LIVE_)namedWindow("Acquisition", WINDOW_NORMAL | WINDOW_KEEPRATIO);
 
     int count = 0;
 
@@ -1046,7 +1046,7 @@ void acquisition::Capture::run_soft_trig() {
                 }
             }
 
-            int key = cvWaitKey(1);
+            int key = waitKey(1);
             ROS_DEBUG_STREAM("Key press: "<<(key & 255)<<endl);
 
             if ( (key & 255)!=255 ) {
@@ -1070,7 +1070,7 @@ void acquisition::Capture::run_soft_trig() {
                     }
                 } else if( (key & 255)==27 ) {  // ESC
                     ROS_INFO_STREAM("Terminating...");
-                    cvDestroyAllWindows();
+                    destroyAllWindows();
                     ros::shutdown();
                     break;
                 }
@@ -1098,7 +1098,7 @@ void acquisition::Capture::run_soft_trig() {
                 ROS_INFO_STREAM(" Recorded frames "<<count<<" / "<<nframes_);
                 if (count > nframes_) {
                     ROS_INFO_STREAM(nframes_ << " frames recorded. Terminating...");
-                    cvDestroyAllWindows();
+                    destroyAllWindows();
                     break;
                 }
             }