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MultiFrame acquisition #11

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MultiFrame acquisition #11

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30 changes: 23 additions & 7 deletions acquire_zarr/launch/oryx_to_zarr.launch.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
from launch_ros.substitutions import FindPackageShare

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument as LaunchArg
Expand All @@ -13,14 +12,27 @@
'dump_node_map': False,
'frame_rate_auto': 'Off',
'buffer_queue_size': 10,
# Stack acquisition parameters
'acquisition_mode': 'MultiFrame', # For finite stack capture
'frame_count': LaunchConfig('stack_size'), # Number of images in stack
# GPIO configuration
'line_selector': LaunchConfig('gpio_line'), # Select GPIO line
'line_linemode': 'Output', # Configure as output
'line_source': 'ExposureActive', # Signal during exposure
# Timing configuration
'frame_rate_enable': True,
'frame_rate': LaunchConfig('frame_rate'),
'exposure_mode': 'Timed',
'exposure_auto': 'Off',
'exposure_time': LaunchConfig('exposure_time'),
}

def launch_setup(context, *args, **kwargs):
"""Launch camera driver node."""
parameter_file = PathJoinSubstitution(
[FindPackageShare('spinnaker_camera_driver'), 'config', 'oryx.yaml']
)

camera_node = Node(
package='spinnaker_camera_driver',
executable='camera_driver_node',
Expand All @@ -31,25 +43,25 @@ def launch_setup(context, *args, **kwargs):
{
'ffmpeg_image_transport.encoding': 'hevc_nvenc',
'parameter_file': parameter_file,
'serial_number': [LaunchConfig('serial')], #"'23011970'",
'serial_number': [LaunchConfig('serial')],
},
],
)

zarr_writer_node = Node(
package='acquire_zarr',
executable='zarr_writer_node_exe',
parameters=[{
'zarr_out_path': LaunchConfig('zarr_out_path'),
'dimension_sizes': [0, LaunchConfig('image_height'), LaunchConfig('image_width')],
'chunk_sizes': [1, LaunchConfig('image_height'), LaunchConfig('image_width')],
'dimension_sizes': [LaunchConfig('stack_size'), LaunchConfig('image_height'), LaunchConfig('image_width')],
'chunk_sizes': [LaunchConfig('stack_size'), LaunchConfig('image_height'), LaunchConfig('image_width')],
}],
remappings=[
('image_raw', '/oryx/image_raw'),
],
output='screen'
)

return [camera_node, zarr_writer_node]

def generate_launch_description():
Expand All @@ -58,5 +70,9 @@ def generate_launch_description():
LaunchArg('image_width', default_value='2448', description='Image width'),
LaunchArg('image_height', default_value='2048', description='Image height'),
LaunchArg('zarr_out_path', default_value='/tmp/out.zarr', description='zarr output path'),
LaunchArg('stack_size', default_value='100', description='Number of images in stack'),
LaunchArg('gpio_line', default_value='Line2', description='GPIO line for timing signals'),
LaunchArg('frame_rate', default_value='10.0', description='Frame rate in Hz'),
LaunchArg('exposure_time', default_value='10000.0', description='Exposure time in microseconds'),
OpaqueFunction(function=launch_setup)
])