Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/baumer

Baumer Package

This package allows the capture of an image stream from Baumer cameras. It was tested successfully using a VLG22C.

Requirements

Baumer SDK installed in HOME (Default path)

How to launch

• From a sourced terminal:

roslaunch vlg22c_cam baumer.launch

• From Runtime Manager:

Sensing Tab -> Cameras -> VLG-22

Parameters

Launch file available parameters:

Parameter	Type	Description
fps	Integer	Frames per second to try to acquire the image stream.
scale	Double	Number between 0.1 and 1.0, the scaling factor for the output image.
brightness	Double	Number between 0.1 and 1.0, the brightness threshold to trigger exposure compensation. The camera does not have automatic exposure parametrization, therefore a naive Histogram compensation algorithm was added.
CalibrationFile	String	Path to an Autoware compatible calibration file to be published in the camera_info topic related to this camera.

Notes

• The SDK needs to be obtained from Baumer's website.
• The node will only be compiled if the SDK is installed in the default directory inside ${HOME}