ccny_drivers: ccny_opencv_cam | mv_bluefox_driver | pgr_camera_driver

Package Summary

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

• Author: Carlos Jaramillo
• License: GPL
• Repository: ccny-ros-pkg
• Source: git http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/ccny_drivers.git

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:

• Select mvBlueFOX / mvBlueFOX-MLC in the drop down fields. Download the latest Linux beta x64 drivers (beta_mvbluefox-x86_64-ABI2-XXXXXXXX.tgz) and unpack the archive in to a directory:

   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 the “lib” folder (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

Published Topics

• Camera parameters information server

• Unprocessed (raw) image data

Parameters

• The camera's frame name (id).

• The camera_info path and name for the calibration yaml file (e.g. "whatever_path/mv_bluefox_calibration.yaml")

TODO

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