JAI Camera different sensors #4
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The package is a rather simple ROS wrapper and does not support publishing of different images from one camera. You may extend the implementation if you like. I have not worked with a JAI camera an do not know how they publish images from different sensors. In general, there are two possibilities. The camera either offers several streams for sending data of the different chips or it uses different components. Could you post the output of the tool 'gc_info '? Then I may know more. |
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Hi, Thank you for the response. The result of gc_info is below. It also explains how to do that in JAI eBUS Player here (page:27) : https://www.stemmer-imaging.com/media/uploads/cameras/jai/15/159906-JAI-FS-3200T-10GE-NNC-Manual.pdf Any help is appreciated. Thank you! |
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Thanks for posting the camera parameters. The camera offers images on different streams (i.e. DeviceStreamChannelCount is 3). This is the first camera that I see that uses multiple streams. In the rc_genicam_camera package, it is hard coded to expect only one stream and publish images from the first stream (see ). You would need to extend that to open all streams and publish the images on different topics, preferably using different threads.I guess configuration of parameters for the different streams works by changing the value of DeviceStreamChannelSelector. Then the parameters like PixelFormat would be parameters of the selected stream. That can all be done in the configuration file as it is. |
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Hi heikohimu, Thank you for the reply. Unfortunately, changing DeviceStreamChannelSelector to 1 or 2 doesn't work. The steps I do in the eBusPlayer GUI for changing the sensor is below:
In this way, I can see the Sensor1 image in the player. Now, I'm thinking to modify the configuration file with these steps. Is there any command to say "read" GevSCPHostPort value somehow in the configuration file instead of writing directly integer? An example of a config file in my mind: |
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No, the config file is meant to apply values before streaming images. But you could script that on the command line with gc_info if the camera keeps the settings between sessions, e.g.: |
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Hi Heikohimu, Thanks for the support. However, for changing the sensor, I somehow connect to the device (to get the port) but stop the acquisition to change the values. I'm launching the camera in ROS. Then I execute the command: But when I want to write these values, I get: I also checked with gc_info and these values are turning to (RO) when I launch the camera. Is there any way to write on these values while the camera is still working but the acquisition is stopped? |
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Only one application is permitted to set GenICam parameters. Others may only read them. If you cannot change the values in one application (i.e. gc_info) and then afterwards stream in another (i.e. ROS driver), then you need to change the ROS driver to make the changes itself. |
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Hello,
I'm using a JAI camera that has 3 different sensors (1 RGB, and 2 NIR). JAI is a Genicam camera and I can use this package to reach the camera in ROS. It works fine for RGB sensor but, how can I reach NIR sensors. I would probably need to define something on the config file, but I couldn't really figure it out. Could you help me?
Best.
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