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

Autoware Point Grey Camera Drivers Package

This package allows the capture of an image stream from Point Grey cameras. It has been tested successfully with Grasshopper3 and LadyBug5 devices on both Ubuntu 14.04 and 16.04.

Requirements

• FlyCapture SDK or Spinnaker SDK provided by Point Grey.

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Grasshopper3

How to launch

• From a sourced terminal:\ roslaunch autoware_pointgrey_drivers grasshopper3.launch
• From Runtime manager:\ Sensing Tab -> Cameras -> PointGrey Grasshopper3

Parameters available

Parameter	Type	Description
fps	integer	Defines the frames per second at which to attempt image stream acquisition.
mode	integer	Camera Mode - please check your camera for valid modes (0,1,2,...,31).
format	string	Pixel Format, which can be either raw or rgb. raw will publish the default bayer format according to your camera sensor. Both modes have 8 bits per pixel per channel.
timeout	integer	Timeout in miliseconds. Default 1000 ms.
CalibrationFile	string	Path to an Autoware-compatible calibration file to be published in the camera_info topic related to this camera.

Ladybug

How to launch

• From a sourced terminal:\ roslaunch autoware_pointgrey_drivers ladybug.launch

• From Runtime manager:\ Sensing Tab -> Cameras -> PointGrey Ladybug5

Parameters available

Parameter	Type	Description
SCALE	float	Defines the downscale ratio (between 0.1 and 1.0).
CalibrationFile	string	Path to an Autoware-compatible calibration file to be published in the camera_info topic related to this camera.

Notes

• The FlyCapture SDK must be obtained from Point Grey's website.\ https://www.ptgrey.com/flycapture-sdk

FLIR ADK

Execute from Autoware/ros base path.

1. rosdep update
2. rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
3. ./catkin_make_release
4. ./run
5. Connect your camera
6. Confirm the camera has been detected using v4l2-ctl --list-devices
7. Select from Sensing tab / Cameras -> FLIR ADK
8. Press the [config] button and write the device name reported by v4l2-ctl --list-devices.
9. Click the FLIR ADK checkbox
10. Open Rviz and add image topic /flir_adk/camera/image_raw

Parameters available

Parameter	Type	Description
DEVICE	string	Name of the system device in the form /dev/videoX. Obtain the correct name using v4l2-ctl --list-devices.
FPS	integer	Frame per second. Default 30.
WIDTH	integer	Image width of the stream (Default 640).
HEIGHT	integer	Image height of the camera (Default 512).
NS	string	Namespace to add as prefix. Default flir_adk.

Spinnaker

How to launch

• From a sourced terminal:\ roslaunch autoware_pointgrey_drivers spinnaker.launch
• From Runtime manager:\ Sensing Tab -> Cameras -> PointGrey Spinnaker

Parameters available

Parameter	Type	Description
fps	integer	Frame per second (Default 60).
width	integer	Image width of the stream (Default 1440).
height	integer	Image height of the camera (Default 1080).
dltl	integer	DeviceLinkThroughputLimit (Default 100000000).