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ccny_drivers: mv_bluefox_driver

Package Summary

Driver for MatrixVision BlueFox Cameras (it wraps arround mvIMPACT Acquire API that comes with the hardware)

Home of the unnoficial ROS driver for MatrixVision BlueFox cameras.

Installing the mvIMPACT Acquire Library

1. Download the latest drivers from Matrix-Vision drivers page:

   1 $ cd ~/src (or wherever you want to install this package)
   2 $ tar xvzf beta_mvbluefox-x86_64-ABI2-XXXXXXXX.tgz
   3 
   4 It  may just be enough to copy the contents of thelibfolder (not the links) into /usr/local/lib, as:
   5 $ sudo cp lib*.so.1.12.11 /usr/local/lib/
   6 
   7 Then, create the appropriate links manually:
   8 $ cd /usr/local/lib
   9 $ sudo ln -s libmvDeviceManager.so.1.12.11 libmvDeviceManager.so
  10 $ sudo ln -s libmvBlueFOX.so.1.12.11 libmvBlueFOX.so
  11 $ sudo ln -s libmvPropHandling.so.1.12.11 libmvPropHandling.so
  12 $ sudo ln -s libwxPropGrid.so.1.12.11 libwxPropGrid.so.1
  13 $ sudo ln -s libwxPropGrid.so.1 libwxPropGrid.so
  14 $ sudo ldconfig
  15 
  16 #copy udev rules
  17 $ sudo cp Scripts/51-mvbf.rules /etc/udev/rules.d/

Example

The driver can be run as a regular node by launching:

   1 roslaunch mv_bluefox_driver camera_node.launch

OR

The driver can be launched as a nodelet as:

   1 roslaunch mv_bluefox_driver camera_nodelet.launch

The camera can be calibrated via the camera_calibration package from image_pipeline by launching:

   1 roslaunch mv_bluefox_driver calibrate_camera.launch

NOTE: You must modify the checkerboard patter calibration parameters to suit your own.

After a .yaml calibration file has been properly generated, the actual rectified images can be processed further via image_pipeline's image_proc. Thus, the following launchers achieve that, respectively.

   1 roslaunch mv_bluefox_driver camera_node_proc.launch

OR

   1 roslaunch mv_bluefox_driver camera_nodelet_proc.launch

Nodes

mv_bluefox_driver

The mv_bluefox_driver node wraps the official driver for MatrixVision BlueFox devices and advertises sensor_msgs/Image messages published by image_transport::Publisher (API) as well as the corresponding camera information as sensor_msgs/CameraInfo. These can be further processed via the image_pipeline's image_proc (see the Example section for launching).

Published Topics

~camera_info (sensor_msgs/CameraInfo) ~image_raw (sensor_msgs/Image)

Parameters

~frame_id (string, default: camera) ~calibration_file (string, default: "")

TODO

1. Add more configurable parameters. For now, only the default camera resolution is being used.


2011-11-19 12:27