From d0357fa96051e36ba43ce6f2f11db74350375bf3 Mon Sep 17 00:00:00 2001
From: Ian Colwell <icolwell@autonomoustuff.com>
Date: Mon, 19 Aug 2019 18:36:06 -0400
Subject: [PATCH 01/11] Changelog for upcoming release

---
 CHANGELOG.rst | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 940e1b62..996e3686 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package avt_vimba_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Merge pull request `#35 <https://github.com/astuff/avt_vimba_camera/issues/35>`_ from willcbaker/feature/nodelet
+  Feature/nodelet
+* Update nodelet launch files
+* Add nodelet
+* Fix `#31 <https://github.com/astuff/avt_vimba_camera/issues/31>`_
+* Merge pull request `#30 <https://github.com/astuff/avt_vimba_camera/issues/30>`_ from chewwt/armv8
+  add support for armv8
+* add support for armv8
+* Change frame observer to shared ptr
+* Contributors: Miquel Massot, Will Baker, ruth
+
 0.0.10 (2017-08-16)
 -------------------
 * Merge pull request `#26 <https://github.com/srv/avt_vimba_camera/issues/26>`_ from 130s/k/add_ci

From 028ccace4d414697065eb5073fd2ad77dfc73ee4 Mon Sep 17 00:00:00 2001
From: Ian Colwell <icolwell@autonomoustuff.com>
Date: Mon, 19 Aug 2019 18:36:19 -0400
Subject: [PATCH 02/11] 0.0.11

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 996e3686..46633a37 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package avt_vimba_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.0.11 (2019-08-19)
+-------------------
 * Merge pull request `#35 <https://github.com/astuff/avt_vimba_camera/issues/35>`_ from willcbaker/feature/nodelet
   Feature/nodelet
 * Update nodelet launch files
diff --git a/package.xml b/package.xml
index d286fd91..35917386 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>avt_vimba_camera</name>
-  <version>0.0.10</version>
+  <version>0.0.11</version>
   <description>Wrapper of the Allied Vision Technologies (AVT) VIMBA Ethernet and Firewire SDK.</description>
 
   <maintainer email="miquel.massot@uib.cat">Miquel Massot</maintainer>

From 426322c631252006a18f0121acccd36fca1222ca Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Fri, 6 Mar 2020 16:20:10 +0100
Subject: [PATCH 03/11] Add more pixelformats, thanks to @jmoreau-hds (#3)

---
 cfg/AvtVimbaCamera.cfg   | 42 +++++++++++++++++++++++++++++++---------
 src/avt_vimba_camera.cpp | 21 +++++++++++++++++++-
 2 files changed, 53 insertions(+), 10 deletions(-)

diff --git a/cfg/AvtVimbaCamera.cfg b/cfg/AvtVimbaCamera.cfg
index 5115a16c..b834630e 100755
--- a/cfg/AvtVimbaCamera.cfg
+++ b/cfg/AvtVimbaCamera.cfg
@@ -31,15 +31,39 @@ acquisition_mode_enum = gen.enum( [ gen.const("Continuous",  str_t, "Continuous"
 									gen.const("SingleFrame", str_t, "SingleFrame", "The camera will only deliver a single frame trigger event"),
 									gen.const("MultiFrame",  str_t, "MultiFrame", "The camera will acquire the number of images specified by `~AcquisitionFrameCount`. Further trigger events will be ignored"),
 									gen.const("Recorder", 	 str_t, "Recorder", "The camera will continuously record images into the camera on-board memory")], "Set Trigger Mode")
-# Monochrome cameras have mono8,12 and 12Packed. Color cameras have only mono8.
-pixelformat_enum = gen.enum([ gen.const("Mono8", str_t,  "Mono8", ""),
-							  gen.const("Mono12",          str_t,  "Mono12", ""),
-							  gen.const("Mono12Packed",    str_t,  "Mono12Packed", ""),
-                gen.const("BayerRG8", str_t,  "BayerRG8", ""),
-							  gen.const("BayerRG12Packed", str_t,  "BayerRG12Packed", ""),
-							  gen.const("BayerGR12", 		 str_t,  "BayerGR12", ""),
-							  gen.const("RGB8Packed", 	 str_t,  "RGB8Packed", ""),
-							  gen.const("BGR8Packed",      str_t,  "BGR8Packed", "")], "Set Pixel Format")
+
+# NOTE: Your AVT camera model likely doesn't support all these formats,
+# check the datasheet to confirm which formats are supported.
+pixelformat_enum = gen.enum([
+	gen.const("Mono8", str_t, "Mono8", ""),
+	gen.const("Mono10", str_t, "Mono10", ""),
+	gen.const("Mono10Packed", str_t, "Mono10Packed", ""),
+	gen.const("Mono12", str_t, "Mono12", ""),
+	gen.const("Mono12Packed", str_t, "Mono12Packed", ""),
+	gen.const("BayerGR8", str_t, "BayerGR8", ""),
+	gen.const("BayerRG8", str_t, "BayerRG8", ""),
+	gen.const("BayerGB8", str_t, "BayerGB8", ""),
+	gen.const("BayerBG8", str_t, "BayerBG8", ""),
+	gen.const("BayerGR10", str_t, "BayerGR10", ""),
+	gen.const("BayerRG10", str_t, "BayerRG10", ""),
+	gen.const("BayerGB10", str_t, "BayerGB10", ""),
+	gen.const("BayerBG10", str_t, "BayerBG10", ""),
+	gen.const("BayerGR12", str_t, "BayerGR12", ""),
+	gen.const("BayerRG12", str_t, "BayerRG12", ""),
+	gen.const("BayerGB12", str_t, "BayerGB12", ""),
+	gen.const("BayerBG12", str_t, "BayerBG12", ""),
+	gen.const("BayerGR10Packed", str_t, "BayerGR10Packed", ""),
+	gen.const("BayerRG10Packed", str_t, "BayerRG10Packed", ""),
+	gen.const("BayerGB10Packed", str_t, "BayerGB10Packed", ""),
+	gen.const("BayerBG10Packed", str_t, "BayerBG10Packed", ""),
+	gen.const("BayerGR12Packed", str_t, "BayerGR12Packed", ""),
+	gen.const("BayerRG12Packed", str_t, "BayerRG12Packed", ""),
+	gen.const("BayerGB12Packed", str_t, "BayerGB12Packed", ""),
+	gen.const("BayerBG12Packed", str_t, "BayerBG12Packed", ""),
+	gen.const("RGB8Packed", str_t, "RGB8Packed", ""),
+	gen.const("BGR8Packed", str_t, "BGR8Packed", "")
+], "Set Pixel Format")
+
 auto_enum = gen.enum([ gen.const("Off",  str_t, "Off", ""),
       				   gen.const("Once", str_t, "Once", ""),
       				   gen.const("Auto", str_t, "Continuous", "")], "Set Automatic Control")
diff --git a/src/avt_vimba_camera.cpp b/src/avt_vimba_camera.cpp
index 0096dfb7..b54110d6 100644
--- a/src/avt_vimba_camera.cpp
+++ b/src/avt_vimba_camera.cpp
@@ -59,11 +59,30 @@ static const char* AcquisitionMode[] = {
   "Recorder"};
 static const char* PixelFormatMode[] = {
   "Mono8",
+  "Mono10",
+  "Mono10Packed",
   "Mono12",
   "Mono12Packed",
+  "BayerGR8",
   "BayerRG8",
-  "BayerRG12Packed",
+  "BayerGB8",
+  "BayerBG8",
+  "BayerGR10",
+  "BayerRG10",
+  "BayerGB10",
+  "BayerBG10",
+  "BayerGR12",
   "BayerRG12",
+  "BayerGB12",
+  "BayerBG12",
+  "BayerGR10Packed",
+  "BayerRG10Packed",
+  "BayerGB10Packed",
+  "BayerBG10Packed",
+  "BayerGR12Packed",
+  "BayerRG12Packed",
+  "BayerGB12Packed",
+  "BayerBG12Packed",
   "RGB8Packed",
   "BGR8Packed"};
 static const char* BalanceRatioMode[] = {

From 88135d5d63f764beae445b8680da95aa1d21b823 Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Wed, 3 Jun 2020 17:27:13 -0400
Subject: [PATCH 04/11] Brief README (#10)

---
 README.md | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 00000000..b2dd6224
--- /dev/null
+++ b/README.md
@@ -0,0 +1,11 @@
+# avt_vimba_camera
+
+This repo contains a ROS driver for cameras manufactured by [Allied Vision Technologies](https://www.alliedvision.com).
+The driver relies on libraries provided by AVT as part of their [Vimba SDK](https://www.alliedvision.com/en/products/software.html).
+
+## Installing the driver
+
+You can install via ROS package repos:
+```
+sudo apt install ros-$ROS_DISTRO-avt-vimba-camera
+```

From 40b235ab87949932c7121ba45e8cd15d7269e300 Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Thu, 4 Jun 2020 12:46:26 -0400
Subject: [PATCH 05/11] Remove duplicated launch file installs (#15)

---
 CMakeLists.txt | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ffc947ba..8a143986 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,10 +143,6 @@ install(DIRECTORY include
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   plugins.xml
-  launch/mono_camera.launch
-  launch/mono_camera_nodelet.launch
-  launch/stereo_camera_one_node.launch
-  launch/stereo_camera_two_nodes.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

From a3567d09b442d78dcc3e1ca811682cca36ac4976 Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Thu, 4 Jun 2020 16:48:11 -0400
Subject: [PATCH 06/11] Launch File Updates (#13)

* Standardize launch file formatting, remove commented code

* Provide args for all parameters

* Launch file for Mako G-319

* Fix typo

* Update stream_bytes_per_second to maximum bandwidth for the Mako G-319, disable output to screen due to excessive logging
---
 launch/Mako_G-319.launch              |  23 +++++
 launch/calibration.launch             |  16 ++--
 launch/mono_camera.launch             | 129 ++++++++++++--------------
 launch/mono_camera_nodelet.launch     |  78 +++++++++-------
 launch/record.launch                  |  14 +--
 launch/stereo_camera_nodelet.launch   |   1 -
 launch/stereo_camera_one_node.launch  |  28 +++---
 launch/stereo_camera_two_nodes.launch | 106 ++++++++++-----------
 8 files changed, 202 insertions(+), 193 deletions(-)
 create mode 100644 launch/Mako_G-319.launch

diff --git a/launch/Mako_G-319.launch b/launch/Mako_G-319.launch
new file mode 100644
index 00000000..f9095927
--- /dev/null
+++ b/launch/Mako_G-319.launch
@@ -0,0 +1,23 @@
+<launch>
+  <arg name="name" default="camera" doc="The name of the camera"/>
+  <arg name="frame_id" default="camera" doc="The frame id of the camera"/>
+  <arg name="ip" default="" doc="The IP for the camera to connect to"/>
+  <arg name="guid" default="" doc="The GUID for the camera to connect to"/>
+  <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
+  <arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
+
+  <include file="$(find avt_vimba_camera)/launch/mono_camera.launch">
+    <arg name="name" value="$(arg name)"/>
+    <arg name="frame_id" value="$(arg frame_id)"/>
+    <arg name="ip" value="$(arg ip)"/>
+    <arg name="guid" value="$(arg guid)"/>
+    <arg name="camera_info_url" value="$(arg camera_info_url)"/>
+    <arg name="acquisition_rate" value="$(arg acquisition_rate)"/>
+
+    <!-- Params specific to Mako G-319 -->
+    <arg name="pixel_format" value="BayerRG8"/>
+    <arg name="width" value="2064"/>
+    <arg name="height" value="1544"/>
+    <arg name="stream_bytes_per_second" value="119824282"/>
+  </include>
+</launch>
diff --git a/launch/calibration.launch b/launch/calibration.launch
index 5c882137..b26c05b0 100644
--- a/launch/calibration.launch
+++ b/launch/calibration.launch
@@ -1,9 +1,9 @@
 <launch>
-	<arg name="stereo" default="stereo"/>
-	<node pkg="camera_calibration" type="cameracalibrator.py" name="camera_calibrator" args="-k 6 --size 8x6 --square=0.04" output="screen">
-		<remap from="left" to="$(arg stereo)/left/image_mono" />
-		<remap from="left_camera" to="$(arg stereo)/left" />
-		<remap from="right" to="$(arg stereo)/right/image_mono" />
-		<remap from="right_camera" to="$(arg stereo)/right" />
-	</node>
-</launch>
\ No newline at end of file
+  <arg name="stereo" default="stereo"/>
+  <node pkg="camera_calibration" type="cameracalibrator.py" name="camera_calibrator" args="-k 6 --size 8x6 --square=0.04" output="screen">
+    <remap from="left" to="$(arg stereo)/left/image_mono" />
+    <remap from="left_camera" to="$(arg stereo)/left" />
+    <remap from="right" to="$(arg stereo)/right/image_mono" />
+    <remap from="right_camera" to="$(arg stereo)/right" />
+  </node>
+</launch>
diff --git a/launch/mono_camera.launch b/launch/mono_camera.launch
index 529ab358..b795662f 100644
--- a/launch/mono_camera.launch
+++ b/launch/mono_camera.launch
@@ -1,74 +1,59 @@
 <launch>
-
-	<group ns="camera">
-		<node name="image_proc" pkg="image_proc" type="image_proc"/>
-	</group>
-
-	<node name="camera" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
-		<param name="guid" value="50-0503343290"/>
-		<param name="ip" value=""/>
-		<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
-		<param name="frame_id" value="left_optical"/>
-		<param name="trig_timestamp_topic" value=""/>
-		<param name="show_debug_prints" value="true"/>
-
-		<!-- Trigger mode:
-			1. Freerun
-			2. SyncIn1
-			3. SyncIn2
-			4. SyncIn3
-			5. SyncIn4
-			6. FixedRate
-			7. Software
-		-->
-		<param name="trigger_source" value="FixedRate"/>
-
-		<!-- Acquisition mode:
-			1. Continuous
-			2. SingleFrame
-			3. MultiFrame
-			4. Recorder
-		-->
-		<param name="acquisition_mode" value="Continuous"/>
-
-		<!-- Acquisition rate in fps -->
-		<param name="acquisition_rate" value="12"/>
-
-		<!-- Pixel format:
-			1. Mono8
-			2. Mono12
-			3. Mono12Packed
-			4. BayerRG8
-			5. BayerRG12Packed
-			6. BayerGR12
-			7. RGB8Packed
-			8. BGR8Packed
-		-->
-		<param name="pixel_format" value="BayerRG8"/>
-		<!-- Exposure in us -->
-		<param name="exposure" value="1000"/>
-		<!-- Gain in dB -->
-		<param name="gain" value="0"/>
-
-		<!-- Auto control
-			1. Off
-			2. Once
-			3. Continuous
-		-->
-		<param name="exposure_auto" value="Continuous"/>
-		<param name="gain_auto" value="Continuous"/>
-		<param name="whitebalance_auto" value="Continuous"/>
-
-		<param name="binning_x" value="1"/>
-		<param name="binning_y" value="1"/>
-		<param name="decimation_x" value="1"/>
-		<param name="decimation_y" value="1"/>
-		<param name="x_offset" value="8"/>
-		<param name="y_offset" value="9"/>
-		<param name="width" value="1920"/>
-		<param name="height" value="1440"/>
-
-		<param name="stream_bytes_per_second" value="45000000"/>
-	</node>
-
+  <arg name="name" default="camera" doc="The name of the camera"/>
+  <arg name="ip" default="" doc="The IP for the camera to connect to"/>
+  <arg name="guid" default="50-0503343290" doc="The GUID for the camera to connect to"/>
+  <arg name="frame_id" default="left_optical" doc="The frame id of the camera"/>
+  <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
+  <arg name="trig_timestamp_topic" default=""/>
+  <arg name="show_debug_prints" default="true"/>
+  <arg name="trigger_source" default="FixedRate"/>
+  <arg name="acquisition_mode" default="Continuous"/>
+  <arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
+  <arg name="pixel_format" default="BayerRG8" doc="Image format"/>
+  <arg name="exposure" default="1000" doc="Exposure (us)"/>
+  <arg name="exposure_auto" default="Continuous"/>
+  <arg name="gain" default="0" doc="Gain (dB)"/>
+  <arg name="gain_auto" default="Continuous"/>
+  <arg name="whitebalance_auto" default="Continuous"/>
+  <arg name="binning_x" default="1"/>
+  <arg name="binning_y" default="1"/>
+  <arg name="decimation_x" default="1"/>
+  <arg name="decimation_y" default="1"/>
+  <arg name="x_offset" default="0"/>
+  <arg name="y_offset" default="0"/>
+  <arg name="width" default="1920" doc="Width of the image (pixels)"/>
+  <arg name="height" default="1440" doc="Height of the image (pixels)"/>
+  <arg name="stream_bytes_per_second" default="45000000" doc="Stream bandwidth (B/s)"/>
+  <arg name="image_proc" default="false"/>
+
+  <group if="$(arg image_proc)" ns="$(arg name)">
+    <node name="image_proc" pkg="image_proc" type="image_proc"/>
+  </group>
+
+  <node name="$(arg name)" pkg="avt_vimba_camera" type="mono_camera_node">
+    <param name="guid" value="$(arg guid)"/>
+    <param name="ip" value="$(arg ip)"/>
+    <param name="camera_info_url" value="$(arg camera_info_url)"/>
+    <param name="frame_id" value="$(arg frame_id)"/>
+    <param name="trig_timestamp_topic" value="$(arg trig_timestamp_topic)"/>
+    <param name="show_debug_prints" value="$(arg show_debug_prints)"/>
+    <param name="trigger_source" value="$(arg trigger_source)"/>
+    <param name="acquisition_mode" value="$(arg acquisition_mode)"/>
+    <param name="acquisition_rate" value="$(arg acquisition_rate)"/>
+    <param name="pixel_format" value="$(arg pixel_format)"/>
+    <param name="exposure" value="$(arg exposure)"/>
+    <param name="exposure_auto" value="$(arg exposure_auto)"/>
+    <param name="gain" value="$(arg gain)"/>
+    <param name="gain_auto" value="$(arg gain_auto)"/>
+    <param name="whitebalance_auto" value="$(arg whitebalance_auto)"/>
+    <param name="binning_x" value="$(arg binning_x)"/>
+    <param name="binning_y" value="$(arg binning_y)"/>
+    <param name="decimation_x" value="$(arg decimation_x)"/>
+    <param name="decimation_y" value="$(arg decimation_y)"/>
+    <param name="x_offset" value="$(arg x_offset)"/>
+    <param name="y_offset" value="$(arg y_offset)"/>
+    <param name="width" value="$(arg width)"/>
+    <param name="height" value="$(arg height)"/>
+    <param name="stream_bytes_per_second" value="$(arg stream_bytes_per_second)"/>
+  </node>
 </launch>
diff --git a/launch/mono_camera_nodelet.launch b/launch/mono_camera_nodelet.launch
index e114ad8d..bed642d9 100644
--- a/launch/mono_camera_nodelet.launch
+++ b/launch/mono_camera_nodelet.launch
@@ -3,46 +3,62 @@
   <arg name="ip" default="" doc="The IP for the camera to connect to"/>
   <arg name="guid" default="50-0503343290" doc="The GUID for the camera to connect to"/>
   <arg name="frame_id" default="left_optical" doc="The frame id of the camera"/>
+  <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
+  <arg name="trig_timestamp_topic" default=""/>
+  <arg name="show_debug_prints" default="true"/>
+  <arg name="trigger_source" default="FixedRate"/>
+  <arg name="acquisition_mode" default="Continuous"/>
+  <arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
+  <arg name="pixel_format" default="BayerRG8" doc="Image format"/>
+  <arg name="exposure" default="1000" doc="Exposure (us)"/>
+  <arg name="exposure_auto" default="Continuous"/>
+  <arg name="gain" default="0" doc="Gain (dB)"/>
+  <arg name="gain_auto" default="Continuous"/>
+  <arg name="whitebalance_auto" default="Continuous"/>
+  <arg name="binning_x" default="1"/>
+  <arg name="binning_y" default="1"/>
+  <arg name="decimation_x" default="1"/>
+  <arg name="decimation_y" default="1"/>
+  <arg name="x_offset" default="8"/>
+  <arg name="y_offset" default="9"/>
+  <arg name="width" default="1920" doc="Width of the image (pixels)"/>
+  <arg name="height" default="1440" doc="Height of the image (pixels)"/>
+  <arg name="stream_bytes_per_second" default="45000000" doc="Stream bandwidth (B/s)"/>
   <arg name="image_proc" default="false"/>
 
   <!-- The nodelet manager -->
-  <node pkg="nodelet" type="nodelet" name="avt_vimba_nodelet_manager"  args="manager" output="screen"/>
+  <node pkg="nodelet" type="nodelet" name="avt_vimba_nodelet_manager" args="manager" output="screen"/>
 
-  <!-- Image proccessing -->
+  <!-- Image processing -->
   <include if="$(arg image_proc)" ns="$(arg name)" file="$(find image_proc)/launch/image_proc.launch">
     <arg name="manager" value="avt_vimba_nodelet_manager"/>
   </include>
 
   <!-- The mono camera nodelet -->
   <node pkg="nodelet" type="nodelet" name="$(arg name)" args="load avt_vimba_camera/MonoCameraNodelet avt_vimba_nodelet_manager" output="screen">
-      <param name="guid" value="$(arg guid)"/>
-      <param name="ip" value="$(arg ip)"/>
-      <param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
-      <param name="frame_id" value="$(arg frame_id)"/>
-      <param name="trig_timestamp_topic" value=""/>
-      <param name="show_debug_prints" value="true"/>
-      <param name="trigger_source" value="FixedRate"/>
-      <param name="acquisition_mode" value="Continuous"/>
-      <!-- Acquisition rate in fps -->
-      <param name="acquisition_rate" value="12"/>
-      <param name="pixel_format" value="BayerRG8"/>
-      <!-- Exposure in us -->
-      <param name="exposure" value="1000"/>
-      <!-- Gain in dB -->
-      <param name="gain" value="0"/>
-      <param name="exposure_auto" value="Continuous"/>
-      <param name="gain_auto" value="Continuous"/>
-      <param name="whitebalance_auto" value="Continuous"/>
-
-      <param name="binning_x" value="1"/>
-      <param name="binning_y" value="1"/>
-      <param name="decimation_x" value="1"/>
-      <param name="decimation_y" value="1"/>
-      <param name="x_offset" value="8"/>
-      <param name="y_offset" value="9"/>
-      <param name="width" value="1920"/>
-      <param name="height" value="1440"/>
-
-      <param name="stream_bytes_per_second" value="45000000"/>
+    <param name="guid" value="$(arg guid)"/>
+    <param name="ip" value="$(arg ip)"/>
+    <param name="camera_info_url" value="$(arg camera_info_url)"/>
+    <param name="frame_id" value="$(arg frame_id)"/>
+    <param name="trig_timestamp_topic" value="$(arg trig_timestamp_topic)"/>
+    <param name="show_debug_prints" value="$(arg show_debug_prints)"/>
+    <param name="trigger_source" value="$(arg trigger_source)"/>
+    <param name="acquisition_mode" value="$(arg acquisition_mode)"/>
+    <param name="acquisition_rate" value="$(arg acquisition_rate)"/>
+    <param name="pixel_format" value="$(arg pixel_format)"/>
+    <param name="exposure" value="$(arg exposure)"/>
+    <param name="exposure_auto" value="$(arg exposure_auto)"/>
+    <param name="gain" value="$(arg gain)"/>
+    <param name="gain_auto" value="$(arg gain_auto)"/>
+    <param name="whitebalance_auto" value="$(arg whitebalance_auto)"/>
+    <param name="binning_x" value="$(arg binning_x)"/>
+    <param name="binning_y" value="$(arg binning_y)"/>
+    <param name="decimation_x" value="$(arg decimation_x)"/>
+    <param name="decimation_y" value="$(arg decimation_y)"/>
+    <param name="x_offset" value="$(arg x_offset)"/>
+    <param name="y_offset" value="$(arg y_offset)"/>
+    <param name="width" value="$(arg width)"/>
+    <param name="height" value="$(arg height)"/>
+    <param name="stream_bytes_per_second" value="$(arg stream_bytes_per_second)"/>
   </node>
 </launch>
diff --git a/launch/record.launch b/launch/record.launch
index 2727d6aa..1d06d51c 100644
--- a/launch/record.launch
+++ b/launch/record.launch
@@ -1,8 +1,10 @@
 <launch>
-	<arg name="stereo" default="stereo"/>
-	<arg name="image" default="image_color"/>
-	<arg name="prefix" default="test"/>
+  <arg name="stereo" default="stereo"/>
+  <arg name="image" default="image_color"/>
+  <arg name="prefix" default="test"/>
 
-	<node pkg="rosbag" type="record" name="record" args="/$(arg stereo)/left/$(arg image) /$(arg stereo)/right/$(arg image) /$(arg stereo)/left/camera_info /$(arg stereo)/right/camera_info -o $(arg prefix)" output="screen">
-	</node>
-</launch>
\ No newline at end of file
+  <node pkg="rosbag" type="record" name="record"
+    args="/$(arg stereo)/left/$(arg image) /$(arg stereo)/right/$(arg image) /$(arg stereo)/left/camera_info /$(arg stereo)/right/camera_info -o $(arg prefix)"
+    output="screen"
+  />
+</launch>
diff --git a/launch/stereo_camera_nodelet.launch b/launch/stereo_camera_nodelet.launch
index 1fa96f02..9efeeeba 100644
--- a/launch/stereo_camera_nodelet.launch
+++ b/launch/stereo_camera_nodelet.launch
@@ -22,5 +22,4 @@
     <param name="left_camera_info_url" value="$(arg left_camera_info_url)"/>
     <param name="right_camera_info_url" value="$(arg right_camera_info_url)"/>
   </node>
-
 </launch>
diff --git a/launch/stereo_camera_one_node.launch b/launch/stereo_camera_one_node.launch
index e3577d8a..e03cef02 100644
--- a/launch/stereo_camera_one_node.launch
+++ b/launch/stereo_camera_one_node.launch
@@ -1,21 +1,17 @@
 <launch>
-	<arg name="stereo" default="stereo"/>
-	<arg name="left_guid" default="50-0503343289"/>
-	<arg name="right_guid" default="50-0503343290"/>
-	
-  	<node ns="$(arg stereo)" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"/>
+  <arg name="stereo" default="stereo"/>
+  <arg name="left_guid" default="50-0503343289"/>
+  <arg name="right_guid" default="50-0503343290"/>
 
-	<node name="$(arg stereo)" pkg="avt_vimba_camera" type="stereo_camera_node" output="screen">
+  <node ns="$(arg stereo)" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"/>
 
-		<!-- Static params -->
-		<param name="left_guid" value="$(arg left_guid)"/>
-		<param name="right_guid" value="$(arg right_guid)"/>
-		<param name="left_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg left_guid).yaml"/>
-		<param name="right_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg right_guid).yaml"/>
-
-		<param name="show_debug_prints" value="false"/>
-		<!--rosparam command="load" file="$(find avt_vimba_camera)/params.yaml"/-->
-	</node>
+  <node name="$(arg stereo)" pkg="avt_vimba_camera" type="stereo_camera_node" output="screen">
+    <!-- Static params -->
+    <param name="left_guid" value="$(arg left_guid)"/>
+    <param name="right_guid" value="$(arg right_guid)"/>
+    <param name="left_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg left_guid).yaml"/>
+    <param name="right_camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_$(arg right_guid).yaml"/>
 
+    <param name="show_debug_prints" value="false"/>
+  </node>
 </launch>
-
diff --git a/launch/stereo_camera_two_nodes.launch b/launch/stereo_camera_two_nodes.launch
index 0fdf7152..ef7e57db 100644
--- a/launch/stereo_camera_two_nodes.launch
+++ b/launch/stereo_camera_two_nodes.launch
@@ -1,63 +1,51 @@
 <launch>
+  <group ns="stereo">
+    <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc"/>
 
-	<group ns="stereo">
-		<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc"/>
+    <node name="left" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
+      <param name="guid" value="50-0503343289"/>
+      <param name="ip_address" value=""/>
+      <param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343289.yaml"/>
+      <param name="frame_id" value="left_optical"/>
+      <param name="trig_timestamp_topic" value=""/>
+      <param name="trigger_source" value="FixedRate"/>
+      <param name="sync_out_source" value="Exposing"/>
+      <param name="sync_out_polarity" value="Normal"/>
+      <param name="acquisition_mode" value="Continuous"/>
+      <param name="acquisition_rate" value="10"/>
+      <param name="pixel_format" value="BayerRG8"/>
+      <param name="auto_exposure" value="Auto"/>
+      <param name="auto_gain" value="Auto"/>
+      <param name="auto_whitebalance" value="Auto"/>
+      <param name="x_offset" value="8"/>
+      <param name="y_offset" value="9"/>
+      <param name="width" value="1920"/>
+      <param name="height" value="1440"/>
+      <param name="ptp_mode" value="Master"/>
+      <param name="stream_bytes_per_second" value="45000000"/>
+    </node>
 
-		<!-- <group ns="left">
-			<node name="image_proc" pkg="image_proc" type="image_proc"/>
-		</group> -->
-
-		<!-- <group ns="right">
-			<node name="image_proc" pkg="image_proc" type="image_proc"/>
-		</group>  -->
-
-
-		<node name="left" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
-			<param name="guid" value="50-0503343289"/>
-			<param name="ip_address" value=""/>
-			<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343289.yaml"/>
-			<param name="frame_id" value="left_optical"/>
-			<param name="trig_timestamp_topic" value=""/>
-			<param name="trigger_source" value="FixedRate"/>
-			<!--param name="sync_out_source" value="Acquiring"/-->
-			<param name="sync_out_source" value="Exposing"/>
-			<param name="sync_out_polarity" value="Normal"/>
-			<param name="acquisition_mode" value="Continuous"/>
-			<param name="acquisition_rate" value="10"/>
-			<param name="pixel_format" value="BayerRG8"/>
-			<param name="auto_exposure" value="Auto"/>
-			<param name="auto_gain" value="Auto"/>
-			<param name="auto_whitebalance" value="Auto"/>
-			<param name="x_offset" value="8"/>
-			<param name="y_offset" value="9"/>
-			<param name="width" value="1920"/>
-			<param name="height" value="1440"/>
-			<param name="ptp_mode" value="Master"/>
-			<param name="stream_bytes_per_second" value="45000000"/>
-		</node>
-
-		<node name="right" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
-			<param name="guid" value="50-0503343290"/>
-			<param name="ip_address" value=""/>
-			<param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
-			<param name="frame_id" value="right_optical"/>
-			<param name="trig_timestamp_topic" value=""/>
-			<param name="trigger_source" value="Line1"/>
-			<param name="trigger_selector" value="AcquisitionStart"/>
-			<param name="trigger_mode" value="On"/>
-			<param name="sync_in_selector" value="SyncIn1"/>
-			<param name="acquisition_mode" value="Continuous"/>
-			<param name="pixel_format" value="BayerRG8"/>
-			<param name="auto_exposure" value="Auto"/>
-			<param name="auto_gain" value="Auto"/>
-			<param name="auto_whitebalance" value="Auto"/>
-			<param name="x_offset" value="8"/>
-			<param name="y_offset" value="9"/>
-			<param name="width" value="1920"/>
-			<param name="height" value="1440"/>
-			<param name="ptp_mode" value="Slave"/>
-			<param name="stream_bytes_per_second" value="45000000"/>
-		</node>
-	</group>
+    <node name="right" pkg="avt_vimba_camera" type="mono_camera_node" output="screen">
+      <param name="guid" value="50-0503343290"/>
+      <param name="ip_address" value=""/>
+      <param name="camera_info_url" value="file://$(find avt_vimba_camera)/calibrations/calibration_50-0503343290.yaml"/>
+      <param name="frame_id" value="right_optical"/>
+      <param name="trig_timestamp_topic" value=""/>
+      <param name="trigger_source" value="Line1"/>
+      <param name="trigger_selector" value="AcquisitionStart"/>
+      <param name="trigger_mode" value="On"/>
+      <param name="sync_in_selector" value="SyncIn1"/>
+      <param name="acquisition_mode" value="Continuous"/>
+      <param name="pixel_format" value="BayerRG8"/>
+      <param name="auto_exposure" value="Auto"/>
+      <param name="auto_gain" value="Auto"/>
+      <param name="auto_whitebalance" value="Auto"/>
+      <param name="x_offset" value="8"/>
+      <param name="y_offset" value="9"/>
+      <param name="width" value="1920"/>
+      <param name="height" value="1440"/>
+      <param name="ptp_mode" value="Slave"/>
+      <param name="stream_bytes_per_second" value="45000000"/>
+    </node>
+  </group>
 </launch>
-

From 759d685f9181c17a08199d2f979a7f4e524f1cda Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Fri, 5 Jun 2020 11:45:42 -0400
Subject: [PATCH 07/11] Add missing MonoCamera Class (#16)

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8a143986..ab5c1d08 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -117,6 +117,7 @@ add_dependencies_and_linkings(sync_node)
 add_library(avt_camera_nodelets
   src/nodes/mono_camera_nodelet.cpp
   src/nodes/stereo_camera_nodelet.cpp
+  src/mono_camera.cpp
   src/stereo_camera.cpp
   src/avt_vimba_camera.cpp
   src/frame_observer.cpp)

From 45086a3e21ee73da7797127fb0e90118d98ffc38 Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Mon, 8 Jun 2020 12:15:28 -0400
Subject: [PATCH 08/11] 0.0.12 Release (#17)

* Update changelog for 0.0.12 release

* 0.0.12
---
 CHANGELOG.rst | 22 +++++++++++++++++++---
 package.xml   |  2 +-
 2 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 46633a37..f56dadae 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package avt_vimba_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.0.12 (2020-06-05)
+-------------------
+* Fix MonoCamera nodelet (`#16 <https://github.com/astuff/avt_vimba_camera/issues/16>`_)
+* Launch File Updates (`#13 <https://github.com/astuff/avt_vimba_camera/issues/13>`_)
+
+  * Standardize launch file formatting, remove commented code
+  * Provide args for all parameters
+  * Launch file for Mako G-319
+
+* Remove duplicated launch file installs (`#15 <https://github.com/astuff/avt_vimba_camera/issues/15>`_)
+* Brief README (`#10 <https://github.com/astuff/avt_vimba_camera/issues/10>`_)
+* Add more pixelformats, thanks to @jmoreau-hds (`#3 <https://github.com/astuff/avt_vimba_camera/issues/3>`_)
+* Contributors: icolwell-as
+
 0.0.11 (2019-08-19)
 -------------------
 * Merge pull request `#35 <https://github.com/astuff/avt_vimba_camera/issues/35>`_ from willcbaker/feature/nodelet
@@ -43,9 +57,11 @@ Changelog for package avt_vimba_camera
 * Change variable scope
 * Fix `#15 <https://github.com/srv/avt_vimba_camera/issues/15>`_: do not depend on turbot_configurations
 * Merge pull request `#14 <https://github.com/srv/avt_vimba_camera/issues/14>`_ from josepqp/kinetic
-* 1) Added ARM 32 bits libraries
-  2) Modified CMakeList.txt to compile with ARM 32 bits
-  3) Added Iris Parameter
+
+  * Added ARM 32 bits libraries
+  * Modified CMakeList.txt to compile with ARM 32 bits
+  * Added Iris Parameter
+
 * kinetization
 * Fix sync problems after camera tests
 * Add a sync timer
diff --git a/package.xml b/package.xml
index 35917386..95ad7831 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>avt_vimba_camera</name>
-  <version>0.0.11</version>
+  <version>0.0.12</version>
   <description>Wrapper of the Allied Vision Technologies (AVT) VIMBA Ethernet and Firewire SDK.</description>
 
   <maintainer email="miquel.massot@uib.cat">Miquel Massot</maintainer>

From 521c954a0b16de953f21c339ccb58b0c7bb3e41b Mon Sep 17 00:00:00 2001
From: Dave <dave@pop-os.localdomain>
Date: Thu, 22 Oct 2020 13:41:37 -0400
Subject: [PATCH 09/11] increased max width to 6000 px, fixed image formats
 larger than 8 bits so they work now

---
 cfg/AvtVimbaCamera.cfg                   |  4 +-
 include/avt_vimba_camera/avt_vimba_api.h | 74 +++++++++++++++++-------
 2 files changed, 54 insertions(+), 24 deletions(-)

diff --git a/cfg/AvtVimbaCamera.cfg b/cfg/AvtVimbaCamera.cfg
index b834630e..df61f37c 100755
--- a/cfg/AvtVimbaCamera.cfg
+++ b/cfg/AvtVimbaCamera.cfg
@@ -141,8 +141,8 @@ gen.add("binning_y",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "Num
 gen.add("decimation_x",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in x.", 1, 1, 8)
 gen.add("decimation_y",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in y.", 1, 1, 8)
 # ROI
-gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4096, 1, 4096)
-gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 4096, 1, 4096)
+gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4096, 1, 6000)
+gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 4096, 1, 6000)
 gen.add("roi_width",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
 gen.add("roi_height",           int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
 gen.add("roi_offset_x",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
diff --git a/include/avt_vimba_camera/avt_vimba_api.h b/include/avt_vimba_camera/avt_vimba_api.h
index 22c2e67b..4ac3edcf 100644
--- a/include/avt_vimba_camera/avt_vimba_api.h
+++ b/include/avt_vimba_camera/avt_vimba_api.h
@@ -111,54 +111,84 @@ class AvtVimbaApi {
 
     VmbUint32_t step = nSize / height;
 
+    // Scale images to fit data type
+    bool scale_to_16_bits = true;
+    int scale_bitshift = 0;
+    //bool scale_images_to_fit_data_type = true;
+    //uint8_t from_bits = 8;
+    //uint8_t to_bits = 8;
+
     // NOTE: YUV and ARGB formats not supported
     std::string encoding;
     if      (pixel_format == VmbPixelFormatMono8          ) encoding = sensor_msgs::image_encodings::MONO8;
-    else if (pixel_format == VmbPixelFormatMono10         ) encoding = sensor_msgs::image_encodings::MONO16;
-    else if (pixel_format == VmbPixelFormatMono12         ) encoding = sensor_msgs::image_encodings::MONO16;
-    else if (pixel_format == VmbPixelFormatMono12Packed   ) encoding = sensor_msgs::image_encodings::MONO16;
-    else if (pixel_format == VmbPixelFormatMono14         ) encoding = sensor_msgs::image_encodings::MONO16;
+    else if (pixel_format == VmbPixelFormatMono10         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatMono12         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatMono12Packed   ) encoding = "mono12_packed";
+    else if (pixel_format == VmbPixelFormatMono14         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 2; } // from_bits = 14; to_bits = 16; }
     else if (pixel_format == VmbPixelFormatMono16         ) encoding = sensor_msgs::image_encodings::MONO16;
     else if (pixel_format == VmbPixelFormatBayerGR8       ) encoding = sensor_msgs::image_encodings::BAYER_GRBG8;
     else if (pixel_format == VmbPixelFormatBayerRG8       ) encoding = sensor_msgs::image_encodings::BAYER_RGGB8;
     else if (pixel_format == VmbPixelFormatBayerGB8       ) encoding = sensor_msgs::image_encodings::BAYER_GBRG8;
     else if (pixel_format == VmbPixelFormatBayerBG8       ) encoding = sensor_msgs::image_encodings::BAYER_BGGR8;
-    else if (pixel_format == VmbPixelFormatBayerGR10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerRG10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerGB10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerBG10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerGR12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerRG12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerGB12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerBG12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerGR12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
-    else if (pixel_format == VmbPixelFormatBayerRG12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
-    else if (pixel_format == VmbPixelFormatBayerGB12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
-    else if (pixel_format == VmbPixelFormatBayerBG12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
-    else if (pixel_format == VmbPixelFormatBayerGR16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerRG16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerGB16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
-    else if (pixel_format == VmbPixelFormatBayerBG16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerGR10      ) { encoding = sensor_msgs::image_encodings::BAYER_GRBG16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerRG10      ) { encoding = sensor_msgs::image_encodings::BAYER_RGGB16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerGB10      ) { encoding = sensor_msgs::image_encodings::BAYER_GBRG16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerBG10      ) { encoding = sensor_msgs::image_encodings::BAYER_BGGR16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerGR12      ) { encoding = sensor_msgs::image_encodings::BAYER_GRBG16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerRG12      ) { encoding = sensor_msgs::image_encodings::BAYER_RGGB16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerGB12      ) { encoding = sensor_msgs::image_encodings::BAYER_GBRG16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerBG12      ) { encoding = sensor_msgs::image_encodings::BAYER_BGGR16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatBayerGR12Packed) encoding = "bayer_grrg12_packed";
+    else if (pixel_format == VmbPixelFormatBayerRG12Packed) encoding = "bayer_rggb12_packed";
+    else if (pixel_format == VmbPixelFormatBayerGB12Packed) encoding = "bayer_gbrg12_packed";
+    else if (pixel_format == VmbPixelFormatBayerBG12Packed) encoding = "bayer_bggr12_packed";
+    else if (pixel_format == VmbPixelFormatBayerGR16      ) encoding = sensor_msgs::image_encodings::BAYER_GRBG16;
+    else if (pixel_format == VmbPixelFormatBayerRG16      ) encoding = sensor_msgs::image_encodings::BAYER_RGGB16;
+    else if (pixel_format == VmbPixelFormatBayerGB16      ) encoding = sensor_msgs::image_encodings::BAYER_GBRG16;
+    else if (pixel_format == VmbPixelFormatBayerBG16      ) encoding = sensor_msgs::image_encodings::BAYER_BGGR16;
     else if (pixel_format == VmbPixelFormatRgb8           ) encoding = sensor_msgs::image_encodings::RGB8;
     else if (pixel_format == VmbPixelFormatBgr8           ) encoding = sensor_msgs::image_encodings::BGR8;
     else if (pixel_format == VmbPixelFormatRgba8          ) encoding = sensor_msgs::image_encodings::RGBA8;
     else if (pixel_format == VmbPixelFormatBgra8          ) encoding = sensor_msgs::image_encodings::BGRA8;
-    else if (pixel_format == VmbPixelFormatRgb12          ) encoding = sensor_msgs::image_encodings::TYPE_16UC3;
-    else if (pixel_format == VmbPixelFormatRgb16          ) encoding = sensor_msgs::image_encodings::TYPE_16UC3;
+    else if (pixel_format == VmbPixelFormatRgb12          ) { encoding = sensor_msgs::image_encodings::RGB16; scale_bitshift = 4; } //from_bits = 12; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatRgb16          ) encoding = sensor_msgs::image_encodings::RGB16;
     else
       ROS_WARN("Received frame with unsupported pixel format %d", pixel_format);
     if (encoding == "") return false;
 
+
+
     VmbUchar_t *buffer_ptr;
     VmbErrorType err = vimba_frame_ptr->GetImage(buffer_ptr);
+
     bool res = false;
     if ( VmbErrorSuccess == err ) {
+      // Scale images to fit data type
+      if (scale_to_16_bits && scale_bitshift > 0) {
+        uint16_t* data_;
+        data_ = reinterpret_cast<uint16_t*>(buffer_ptr);
+        for (size_t i=0; i<nSize/2; i++) {
+          data_[i] <<= scale_bitshift;
+        }
+      }
+      /* if (scale_images_to_fit_data_type && (from_bits != to_bits)) {
+        if (to_bits == 16) {
+          uint16_t* data_;
+          data_ = reinterpret_cast<uint16_t*>(buffer_ptr);
+          for (size_t i=0; i<nSize/2; i++) {
+            data_[i] <<= (to_bits - from_bits);
+          }
+        }
+        // other cases here?
+      } */
+
       res = sensor_msgs::fillImage(image,
                                    encoding,
                                    height,
                                    width,
                                    step,
                                    buffer_ptr);
+
     } else {
       ROS_ERROR_STREAM("[" << ros::this_node::getName()
         << "]: Could not GetImage. "

From 9cadb0b3cb0f51463b73c03c007ec6da75e9491c Mon Sep 17 00:00:00 2001
From: jakebonney10 <43123441+jakebonney10@users.noreply.github.com>
Date: Thu, 20 Oct 2022 16:12:10 -0400
Subject: [PATCH 10/11] Added SyncIn2 for external camera trigger

---
 src/avt_vimba_camera.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/avt_vimba_camera.cpp b/src/avt_vimba_camera.cpp
index b54110d6..6c1a435e 100644
--- a/src/avt_vimba_camera.cpp
+++ b/src/avt_vimba_camera.cpp
@@ -192,7 +192,8 @@ void AvtVimbaCamera::start(std::string ip_str, std::string guid_str, bool debug_
 
   if (trigger_source_int == Freerun   ||
       trigger_source_int == FixedRate ||
-      trigger_source_int == SyncIn1) {
+      trigger_source_int == SyncIn1   ||
+      trigger_source_int == SyncIn2) {
     // Create a frame observer for this camera
     SP_SET(frame_obs_ptr_, new FrameObserver(vimba_camera_ptr_,
       boost::bind(&avt_vimba_camera::AvtVimbaCamera::frameCallback, this, _1)));

From 4223bc952698b44c97502e2cf443d9a8faeefb6f Mon Sep 17 00:00:00 2001
From: jake <jakebonney10@gmail.com>
Date: Tue, 25 Oct 2022 22:20:55 -0400
Subject: [PATCH 11/11] 2021 field changes/bug fixes from kayak

Fixed BGR12 and other pixel formats, sigint handler for ctrlc capture, default triggering rate, ROI, and several feature names.
---
 .gitignore                               | 79 ++++++++++++++----------
 cfg/AvtVimbaCamera.cfg                   |  6 +-
 include/avt_vimba_camera/avt_vimba_api.h | 77 +++++++++--------------
 src/avt_vimba_camera.cpp                 | 14 +++--
 4 files changed, 88 insertions(+), 88 deletions(-)

diff --git a/.gitignore b/.gitignore
index 335fe364..b24d71e2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,33 +1,50 @@
-# Specific files
-src/VimbaCPP/
-
-# Build objects
-lib/
-bin/
-build/
-docs/
-
-# Auto generated code
-cfg/cpp/
-cfg/*.cfgc
-     msg_gen/
-     msg/lisp/
-
-# CMake files
-CMakeCache.txt
-cmake_install.cmake
-CMakeFiles/
-src/*/Makefile
-src/*/cmake_install.cmake
-src/*/CMakeFiles/
-
-# Eclipse temporary files
-.cproject
-.project
-.pydevproject
-
-# ctags
-.tags*
-*/.tags*
+# These are some examples of commonly ignored file patterns.
+# You should customize this list as applicable to your project.
+# Learn more about .gitignore:
+#     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
 
+# Node artifact files
+node_modules/
+dist/
+
+# Compiled Java class files
+*.class
+
+# Compiled Python bytecode
+*.py[cod]
+
+# Log files
+*.log
+
+# Package files
+*.jar
+
+# Maven
+target/
+dist/
+
+# JetBrains IDE
+.idea/
+
+# Unit test reports
+TEST*.xml
+
+# Generated by MacOS
+.DS_Store
+
+# Generated by Windows
+Thumbs.db
+
+# Applications
+*.app
+*.exe
+*.war
+
+# Large media files
+*.mp4
+*.tiff
+*.avi
+*.flv
+*.mov
+*.wmv
 
diff --git a/cfg/AvtVimbaCamera.cfg b/cfg/AvtVimbaCamera.cfg
index df61f37c..0b4915db 100755
--- a/cfg/AvtVimbaCamera.cfg
+++ b/cfg/AvtVimbaCamera.cfg
@@ -103,7 +103,7 @@ gen.add("frame_id",             str_t,    SensorLevels.RECONFIGURE_RUNNING, "The
 gen.add("trig_timestamp_topic", str_t,    SensorLevels.RECONFIGURE_STOP,    "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "")
 # ACQUISITION
 gen.add("acquisition_mode",     str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
-gen.add("acquisition_rate",     double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 2, 1, 30)
+gen.add("acquisition_rate",     double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 2, 0.001, 30)
 # TRIGGER
 gen.add("trigger_source",       str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
 gen.add("trigger_mode",			    str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "On", edit_method = trigger_mode_enum)
@@ -141,8 +141,8 @@ gen.add("binning_y",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "Num
 gen.add("decimation_x",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in x.", 1, 1, 8)
 gen.add("decimation_y",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "Number of decimation operations in y.", 1, 1, 8)
 # ROI
-gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4096, 1, 6000)
-gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 4096, 1, 6000)
+gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).",  4112, 1, 4112)
+gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 4096, 1, 4096)
 gen.add("roi_width",            int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
 gen.add("roi_height",           int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
 gen.add("roi_offset_x",         int_t,    SensorLevels.RECONFIGURE_RUNNING, "X offset of the region of interest.", 0, 0, 4095)
diff --git a/include/avt_vimba_camera/avt_vimba_api.h b/include/avt_vimba_camera/avt_vimba_api.h
index 4ac3edcf..65ae7f73 100644
--- a/include/avt_vimba_camera/avt_vimba_api.h
+++ b/include/avt_vimba_camera/avt_vimba_api.h
@@ -111,77 +111,56 @@ class AvtVimbaApi {
 
     VmbUint32_t step = nSize / height;
 
-    // Scale images to fit data type
-    bool scale_to_16_bits = true;
-    int scale_bitshift = 0;
-    //bool scale_images_to_fit_data_type = true;
-    //uint8_t from_bits = 8;
-    //uint8_t to_bits = 8;
-
     // NOTE: YUV and ARGB formats not supported
     std::string encoding;
     if      (pixel_format == VmbPixelFormatMono8          ) encoding = sensor_msgs::image_encodings::MONO8;
-    else if (pixel_format == VmbPixelFormatMono10         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatMono12         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatMono12Packed   ) encoding = "mono12_packed";
-    else if (pixel_format == VmbPixelFormatMono14         ) { encoding = sensor_msgs::image_encodings::MONO16; scale_bitshift = 2; } // from_bits = 14; to_bits = 16; }
+    else if (pixel_format == VmbPixelFormatMono10         ) encoding = sensor_msgs::image_encodings::MONO16;
+    else if (pixel_format == VmbPixelFormatMono12         ) encoding = sensor_msgs::image_encodings::MONO16;
+    else if (pixel_format == VmbPixelFormatMono12Packed   ) encoding = sensor_msgs::image_encodings::MONO16;
+    else if (pixel_format == VmbPixelFormatMono14         ) encoding = sensor_msgs::image_encodings::MONO16;
     else if (pixel_format == VmbPixelFormatMono16         ) encoding = sensor_msgs::image_encodings::MONO16;
     else if (pixel_format == VmbPixelFormatBayerGR8       ) encoding = sensor_msgs::image_encodings::BAYER_GRBG8;
     else if (pixel_format == VmbPixelFormatBayerRG8       ) encoding = sensor_msgs::image_encodings::BAYER_RGGB8;
     else if (pixel_format == VmbPixelFormatBayerGB8       ) encoding = sensor_msgs::image_encodings::BAYER_GBRG8;
     else if (pixel_format == VmbPixelFormatBayerBG8       ) encoding = sensor_msgs::image_encodings::BAYER_BGGR8;
-    else if (pixel_format == VmbPixelFormatBayerGR10      ) { encoding = sensor_msgs::image_encodings::BAYER_GRBG16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerRG10      ) { encoding = sensor_msgs::image_encodings::BAYER_RGGB16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerGB10      ) { encoding = sensor_msgs::image_encodings::BAYER_GBRG16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerBG10      ) { encoding = sensor_msgs::image_encodings::BAYER_BGGR16; scale_bitshift = 6; } // from_bits = 10; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerGR12      ) { encoding = sensor_msgs::image_encodings::BAYER_GRBG16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerRG12      ) { encoding = sensor_msgs::image_encodings::BAYER_RGGB16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerGB12      ) { encoding = sensor_msgs::image_encodings::BAYER_GBRG16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerBG12      ) { encoding = sensor_msgs::image_encodings::BAYER_BGGR16; scale_bitshift = 4; } // from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatBayerGR12Packed) encoding = "bayer_grrg12_packed";
-    else if (pixel_format == VmbPixelFormatBayerRG12Packed) encoding = "bayer_rggb12_packed";
-    else if (pixel_format == VmbPixelFormatBayerGB12Packed) encoding = "bayer_gbrg12_packed";
-    else if (pixel_format == VmbPixelFormatBayerBG12Packed) encoding = "bayer_bggr12_packed";
-    else if (pixel_format == VmbPixelFormatBayerGR16      ) encoding = sensor_msgs::image_encodings::BAYER_GRBG16;
-    else if (pixel_format == VmbPixelFormatBayerRG16      ) encoding = sensor_msgs::image_encodings::BAYER_RGGB16;
-    else if (pixel_format == VmbPixelFormatBayerGB16      ) encoding = sensor_msgs::image_encodings::BAYER_GBRG16;
-    else if (pixel_format == VmbPixelFormatBayerBG16      ) encoding = sensor_msgs::image_encodings::BAYER_BGGR16;
+    else if (pixel_format == VmbPixelFormatBayerGR10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerRG10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerGB10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerBG10      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerGR12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    // dcasa: fixed BayerRG8 image encoding
+    else if (pixel_format == VmbPixelFormatBayerRG12      ) encoding = sensor_msgs::image_encodings::BAYER_RGGB16;
+    else if (pixel_format == VmbPixelFormatBayerGB12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerBG12      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerGR12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
+    else if (pixel_format == VmbPixelFormatBayerRG12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
+    else if (pixel_format == VmbPixelFormatBayerGB12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
+    else if (pixel_format == VmbPixelFormatBayerBG12Packed) encoding = sensor_msgs::image_encodings::TYPE_32SC4;
+    else if (pixel_format == VmbPixelFormatBayerGR16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerRG16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerGB16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
+    else if (pixel_format == VmbPixelFormatBayerBG16      ) encoding = sensor_msgs::image_encodings::TYPE_16SC1;
     else if (pixel_format == VmbPixelFormatRgb8           ) encoding = sensor_msgs::image_encodings::RGB8;
     else if (pixel_format == VmbPixelFormatBgr8           ) encoding = sensor_msgs::image_encodings::BGR8;
     else if (pixel_format == VmbPixelFormatRgba8          ) encoding = sensor_msgs::image_encodings::RGBA8;
     else if (pixel_format == VmbPixelFormatBgra8          ) encoding = sensor_msgs::image_encodings::BGRA8;
-    else if (pixel_format == VmbPixelFormatRgb12          ) { encoding = sensor_msgs::image_encodings::RGB16; scale_bitshift = 4; } //from_bits = 12; to_bits = 16; }
-    else if (pixel_format == VmbPixelFormatRgb16          ) encoding = sensor_msgs::image_encodings::RGB16;
+    else if (pixel_format == VmbPixelFormatRgb12          ) encoding = sensor_msgs::image_encodings::TYPE_16UC3;
+    else if (pixel_format == VmbPixelFormatRgb16          ) encoding = sensor_msgs::image_encodings::TYPE_16UC3;
     else
       ROS_WARN("Received frame with unsupported pixel format %d", pixel_format);
     if (encoding == "") return false;
 
-
-
     VmbUchar_t *buffer_ptr;
     VmbErrorType err = vimba_frame_ptr->GetImage(buffer_ptr);
-
     bool res = false;
     if ( VmbErrorSuccess == err ) {
-      // Scale images to fit data type
-      if (scale_to_16_bits && scale_bitshift > 0) {
-        uint16_t* data_;
-        data_ = reinterpret_cast<uint16_t*>(buffer_ptr);
-        for (size_t i=0; i<nSize/2; i++) {
-          data_[i] <<= scale_bitshift;
+      // dcasa: scale 12 bit image to 16 bit container
+      if (pixel_format == VmbPixelFormatBayerRG12) {
+        unsigned short *buffer_ptr_uint16 = (unsigned short *)buffer_ptr;
+        for (unsigned int i=0; i<nSize/2; i++) {
+          buffer_ptr_uint16[i]<<=4;
         }
       }
-      /* if (scale_images_to_fit_data_type && (from_bits != to_bits)) {
-        if (to_bits == 16) {
-          uint16_t* data_;
-          data_ = reinterpret_cast<uint16_t*>(buffer_ptr);
-          for (size_t i=0; i<nSize/2; i++) {
-            data_[i] <<= (to_bits - from_bits);
-          }
-        }
-        // other cases here?
-      } */
-
       res = sensor_msgs::fillImage(image,
                                    encoding,
                                    height,
diff --git a/src/avt_vimba_camera.cpp b/src/avt_vimba_camera.cpp
index 6c1a435e..7e614505 100644
--- a/src/avt_vimba_camera.cpp
+++ b/src/avt_vimba_camera.cpp
@@ -123,8 +123,6 @@ AvtVimbaCamera::AvtVimbaCamera(std::string name) {
   show_debug_prints_ = false;
   name_ = name;
 
-  signal(SIGINT, intHandler);
-
   camera_state_ = OPENING;
 
   updater_.setHardwareID("unknown");
@@ -310,6 +308,9 @@ CameraPtr AvtVimbaCamera::openCamera(std::string id_str) {
   CameraPtr camera;
   VimbaSystem& vimba_system(VimbaSystem::GetInstance());
 
+  // set handler to catch ctrl+c presses
+  sighandler_t oldHandler = signal(SIGINT, intHandler);
+
   // get camera
   VmbErrorType err = vimba_system.GetCameraByID(id_str.c_str(), camera);
   while (err != VmbErrorSuccess) {
@@ -342,6 +343,9 @@ CameraPtr AvtVimbaCamera::openCamera(std::string id_str) {
     }
   }
 
+  // set previous handler back
+  signal(SIGINT, oldHandler);
+
   std::string cam_id, cam_name, cam_model, cam_sn, cam_int_id;
   VmbInterfaceType cam_int_type;
   VmbAccessModeType accessMode;  // = VmbAccessModeNone;
@@ -976,17 +980,17 @@ void AvtVimbaCamera::updateGainConfig(Config& config) {
   }
   if (config.gain_auto_outliers != config_.gain_auto_outliers || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoMin",
+    setFeatureValue("GainAutoOutliers",
                     static_cast<VmbInt64_t>(config.gain_auto_outliers));
   }
   if (config.gain_auto_rate != config_.gain_auto_rate || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoOutliers",
+    setFeatureValue("GainAutoRate",
                     static_cast<VmbInt64_t>(config.gain_auto_rate));
   }
   if (config.gain_auto_target != config_.gain_auto_target || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoRate", static_cast<VmbInt64_t>(config.gain_auto_target));
+    setFeatureValue("GainAutoTarget", static_cast<VmbInt64_t>(config.gain_auto_target));
   }
   if(changed && show_debug_prints_){
     ROS_INFO_STREAM("New Gain config (" << config.frame_id << ") : "