Feature/ubuntu 20.4

.travis.yml

@@ -5,6 +5,8 @@ services:
 
 matrix:
   include:
+   - arch: amd64
+     env : DOCKER_IMAGE=ros:noetic-perception-focal SPINNAKER_VERSION=2.6.0.160
    - arch: amd64
      env : DOCKER_IMAGE=ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147
    - arch: amd64
@@ -18,7 +20,7 @@ matrix:
    - arch: arm64
      env : DOCKER_IMAGE=arm64v8/ros:kinetic-perception-xenial SPINNAKER_VERSION=2.0.0.147
    - arch: arm64
-     env : DOCKER_IMAGE=arm64v8/ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147
+     env : DOCKER_IMAGE=arm64v8/ros:melodic-perception-bionic SPINNAKER_VERSION=2.0.0.147  
 
 before_install:
 - echo "$DOCKER_PASSWORD" | docker login -u "$DOCKER_USERNAME" --password-stdin

CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(trigger_msgs)
 find_package(Spinnaker REQUIRED)
 message("spinnaker lib :   " ${Spinnaker_LIBRARIES})
 find_package(OpenCV REQUIRED)
+
 # use LibUnwind only for x86_64 or x86_32 architecture
 # do not use LibUnwind for arm architecture
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)

include/spinnaker_sdk_camera_driver/capture.h

@@ -4,7 +4,6 @@
 #include "std_include.h"
 #include "serialization.h"
 #include "camera.h"
-#include "spinnaker_configure.h"
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/filesystem.hpp>
 //ROS

include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in

@@ -1 +1,2 @@
 #cmakedefine trigger_msgs_FOUND
+#define OPENCV_VERSION @OpenCV_VERSION_MAJOR@

include/spinnaker_sdk_camera_driver/std_include.h

@@ -4,9 +4,11 @@
 // Spinnaker SDK
 #include "Spinnaker.h"
 #include "SpinGenApi/SpinnakerGenApi.h"
-
+#include "spinnaker_configure.h"
 // OpenCV
-#include <cv.h>
+#if (OPENCV_VERSION < 4)
+    #include <cv.h>
+#endif
 #include <opencv2/highgui/highgui.hpp>
 
 // ROS
@@ -44,7 +46,6 @@
 #include <pwd.h>
 
 
-
 // gflags
 //#include <gflags/gflags.h>
 

src/camera.cpp

@@ -88,14 +88,8 @@ int acquisition::Camera::get_frame_id() {
 
 Mat acquisition::Camera::grab_mat_frame() {
 
-    try{
-        ImagePtr pResultImage = grab_frame();
-        return convert_to_mat(pResultImage);
-    }
-    catch(Spinnaker::Exception &e){
-        ros::shutdown();
-    }
-
+    ImagePtr pResultImage = grab_frame();
+    return convert_to_mat(pResultImage);
 
 }
 

src/capture.cpp

@@ -45,6 +45,7 @@ acquisition::Capture::Capture() {
 }
 
 void acquisition::Capture::onInit() {
+    NODELET_INFO_STREAM("OpenCV Version: "<<OPENCV_VERSION);
     NODELET_INFO("Initializing nodelet");
     nh_ = this->getNodeHandle();
     nh_pvt_ = this->getPrivateNodeHandle();
@@ -957,25 +958,29 @@ void acquisition::Capture::get_mat_images() {
     int frameID;
     int fid_mismatch = 0;
 
-
-    for (int i=0; i<numCameras_; i++) {
-        //ROS_INFO_STREAM("CAM ID IS "<< i);
-        frames_[i] = cams[i].grab_mat_frame();
-        //ROS_INFO("sucess");
-        time_stamps_[i] = cams[i].get_time_stamp();
+    try{    
+        for (int i=0; i<numCameras_; i++) {
+            //ROS_INFO_STREAM("CAM ID IS "<< i);
+            frames_[i] = cams[i].grab_mat_frame();
+            //ROS_INFO("sucess");
+            time_stamps_[i] = cams[i].get_time_stamp();
 
 
-        if (i==0)
-            frameID = cams[i].get_frame_id();
-        else
-            if (cams[i].get_frame_id() != frameID)
-                fid_mismatch = 1;
-
-        if (i == numCameras_-1)
-            ss << cams[i].get_frame_id() << "]";
-        else
-            ss << cams[i].get_frame_id() << ", ";
-
+            if (i==0)
+                frameID = cams[i].get_frame_id();
+            else
+                if (cams[i].get_frame_id() != frameID)
+                    fid_mismatch = 1;
+
+            if (i == numCameras_-1)
+                ss << cams[i].get_frame_id() << "]";
+            else
+                ss << cams[i].get_frame_id() << ", ";
+
+        }
+    }
+    catch(Spinnaker::Exception &e){
+        ros::shutdown();
     }
     mesg.header.stamp = ros::Time::now();
     mesg.time = ros::Time::now();
@@ -990,14 +995,21 @@ void acquisition::Capture::get_mat_images() {
 }
 
 void acquisition::Capture::run_soft_trig() {
+    #if (OPENCV_VERSION < 4)
+        auto WINDOW_NORMAL = CV_WINDOW_NORMAL;
+        auto WINDOW_KEEPRATIO = CV_WINDOW_KEEPRATIO;
+        auto destroyAllWindows = cvDestroyAllWindows;
+        auto waitKey = cvWaitKey;
+    #endif
+
+
     achieved_time_ = ros::Time::now().toSec();
     ROS_INFO("*** ACQUISITION ***");
 
     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;
 
@@ -1045,8 +1057,7 @@ void acquisition::Capture::run_soft_trig() {
                     displayOverlay("Acquisition", title);
                 }
             }
-
-            int key = cvWaitKey(1);
+            int key = waitKey(1);
             ROS_DEBUG_STREAM("Key press: "<<(key & 255)<<endl);
 
             if ( (key & 255)!=255 ) {
@@ -1070,7 +1081,7 @@ void acquisition::Capture::run_soft_trig() {
                     }
                 } else if( (key & 255)==27 ) {  // ESC
                     ROS_INFO_STREAM("Terminating...");
-                    cvDestroyAllWindows();
+                    destroyAllWindows();
                     ros::shutdown();
                     break;
                 }
@@ -1098,7 +1109,7 @@ 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;
                 }
             }