init

.gitignore

@@ -0,0 +1,3 @@
+stereoCal
+__pycache__
+calib

blackfly_viewer.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+import cv2
+
+
+class BlackflyViewer(Node):
+    def __init__(self):
+        super().__init__('blackfly_viewer')
+
+        # Change this topic if your driver publishes elsewhere
+        image_topic = '/right_camera/image_raw'
+
+        self.bridge = CvBridge()
+
+        self.subscription = self.create_subscription(
+            Image,
+            image_topic,
+            self.image_callback,
+            10
+        )
+
+        self.get_logger().info(f'Subscribed to {image_topic}')
+
+    def image_callback(self, msg: Image):
+        try:
+            # Convert ROS Image -> OpenCV image
+            frame = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+
+            cv2.imshow('Blackfly Camera', frame)
+
+            # Needed for OpenCV window events
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                self.get_logger().info('Shutting down viewer')
+                rclpy.shutdown()
+
+        except Exception as e:
+            self.get_logger().error(f'Image conversion failed: {e}')
+
+
+def main():
+    rclpy.init()
+    node = BlackflyViewer()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        cv2.destroyAllWindows()
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

start_camera.launch.py

@@ -0,0 +1,61 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node, ComposableNodeContainer
+
+#from perspective of cameras
+LEFT_CAMERA_NAME = 'left'
+RIGHT_CAMERA_NAME = 'right'
+LEFT_CAMERA_NAMESPACE = 'stereo'
+RIGHT_CAMERA_NAMESPACE = 'stereo'
+
+def generate_launch_description():
+    config_path = os.path.join(
+        get_package_share_directory('spinnaker_camera_driver'),
+        'config',
+        'blackfly_s.yaml'
+    )
+
+    return LaunchDescription([
+        ComposableNodeContainer(
+            name='vision_container',
+            namespace='',
+            
+        )
+        Node(
+            package='spinnaker_camera_driver',
+            executable='camera_driver_node',
+            name=LEFT_CAMERA_NAME,
+            namespace=LEFT_CAMERA_NAMESPACE,
+            parameters=[{
+                'parameter_file': config_path,
+                'serial_number': '25282106',
+                'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/left.yaml'
+            }]
+        ),
+
+        Node(
+            package='spinnaker_camera_driver',
+            executable='camera_driver_node',
+            name=RIGHT_CAMERA_NAME,
+            namespace=RIGHT_CAMERA_NAMESPACE,
+            parameters=[{
+                'parameter_file': config_path,
+                'serial_number': '25235293',
+                'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/right.yaml'
+            }]
+        ),
+
+        # Node(
+        #     package='stereo_image_proc',
+        #     executable='point_cloud_node',
+        #     namespace='stereo',
+        #     parameters=[{'approximate_sync': True}],
+        #     remappings=[
+        #         ('left/image_rect_color', 'left/image_rect'),
+        #         ('right/image_rect_color', 'right/image_rect')
+        #     ],
+        #     output='screen'
+        # )
+
+    ])