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compatibility to aravis 0.6 tested on ubuntu 16.04 + kinetic #8

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compatibility to aravis 0.6 tested on ubuntu 16.04 + kinetic #8

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4 changes: 2 additions & 2 deletions CMakeModules/FindAravis.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,10 @@ INCLUDE(FindPackageHandleStandardArgs)

FIND_PATH(ARAVIS_INCLUDE_PATH arv.h
"$ENV{ARAVIS_INCLUDE_PATH}"
/usr/local/include/aravis-0.4
/usr/local/include/aravis-0.6
)

FIND_LIBRARY(ARAVIS_LIBRARY aravis-0.4
FIND_LIBRARY(ARAVIS_LIBRARY aravis-0.6
"$ENV{ARAVIS_LIBRARY}"
/usr/local/lib
)
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14 changes: 8 additions & 6 deletions src/camnode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -515,17 +515,19 @@ static void NewBuffer_callback (ArvStream *pStream, ApplicationData *pApplicatio
pBuffer = arv_stream_try_pop_buffer (pStream);
if (pBuffer != NULL)
{
if (pBuffer->status == ARV_BUFFER_STATUS_SUCCESS)
if (arv_buffer_get_status(pBuffer) == ARV_BUFFER_STATUS_SUCCESS)
{
sensor_msgs::Image msg;

pApplicationdata->nBuffers++;
std::vector<uint8_t> this_data(pBuffer->size);
memcpy(&this_data[0], pBuffer->data, pBuffer->size);
size_t size;
const void *ptr = arv_buffer_get_data(pBuffer, &size);
std::vector<uint8_t> this_data(size);
memcpy(&this_data[0], ptr, size);


// Camera/ROS Timestamp coordination.
cn = (uint64_t)pBuffer->timestamp_ns; // Camera now
cn = (uint64_t)arv_buffer_get_timestamp(pBuffer); // Camera now
rn = ros::Time::now().toNSec(); // ROS now

if (iFrame < 10)
Expand Down Expand Up @@ -558,7 +560,7 @@ static void NewBuffer_callback (ArvStream *pStream, ApplicationData *pApplicatio

// Construct the image message.
msg.header.stamp.fromNSec(tn);
msg.header.seq = pBuffer->frame_id;
msg.header.seq = arv_buffer_get_frame_id(pBuffer);
msg.header.frame_id = global.config.frame_id;
msg.width = global.widthRoi;
msg.height = global.heightRoi;
Expand All @@ -578,7 +580,7 @@ static void NewBuffer_callback (ArvStream *pStream, ApplicationData *pApplicatio

}
else
ROS_WARN ("Frame error: %s", szBufferStatusFromInt[pBuffer->status]);
ROS_WARN ("Frame error: %s", szBufferStatusFromInt[arv_buffer_get_status(pBuffer)]);

arv_stream_push_buffer (pStream, pBuffer);
iFrame++;
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