def __init__(self):
"""
Constructor.
"""
camera_param_dict = RobotParams().get_camera_details()
camera_list = camera_param_dict.keys()
# check to make sure cameras is not an empty list
if not camera_list:
rospy.logerr(' '.join(
["camera list is empty: ", ' , '.join(camera_list)]))
return
camera_color_dict = {"mono": ['cognex'], "color": ['ienso_ethernet']}
self.cameras_io = dict()
for camera in camera_list:
if camera_param_dict[camera]['cameraType'] in camera_color_dict[
''
'color']:
is_color = True
else:
is_color = False
self.cameras_io[camera] = {
'interface': IODeviceInterface("internal"
"_camera", camera),
'is_color': is_color
}
def __init__(self):
"""
Constructor.
"""
self._node_config = None
self._node_config_sub = rospy.Subscriber('io/internal_camera/config',
IONodeConfiguration,
self._node_config_cb)
self.cameras_io = dict()
camera_param_dict = RobotParams().get_camera_details()
camera_list = camera_param_dict.keys()
# check to make sure cameras is not an empty list
if not camera_list:
rospy.logerr(' '.join(
["camera list is empty: ", ' , '.join(camera_list)]))
return
intera_dataflow.wait_for(
lambda: self._node_config is not None,
timeout=5.0,
timeout_msg=(
"Failed to connect to Camera Node and retrieve configuration."
))
cameras_to_load = self._get_camera_launch_config().keys()
camera_capabilities = {
"mono": ['cognex'],
"color": ['ienso_ethernet'],
"auto_exposure": ['ienso_ethernet'],
"auto_gain": ['ienso_ethernet']
}
for camera in camera_list:
cameraType = camera_param_dict[camera]['cameraType']
try:
interface = IODeviceInterface("internal_camera", camera)
self.cameras_io[camera] = {
'interface':
interface,
'is_color': (cameraType in camera_capabilities['color']),
'has_auto_exposure':
(cameraType in camera_capabilities['auto_exposure']),
'has_auto_gain': (cameraType
in camera_capabilities['auto_gain']),
}
except OSError as e:
if camera not in cameras_to_load:
rospy.logwarn(
"Expected camera ({0}) is not configured to launch in this run"
" configuration. Make sure you are running in SDK Mode."
.format(camera))
else:
rospy.logerr(
"Could not find expected camera ({0}) for this robot.\n"
"Please contact Rethink support: [email protected]"
.format(camera))
