I'm working with a fisheye lens and need to crop the image and perform calibration. I set the camera ROI in my launch file as follows:

  <param name="format7_x_offset" value="700" />
  <param name="format7_roi_width" value="1100" />
  <param name="format7_y_offset" value="450" />
  <param name="format7_roi_height" value="1100" />

I was able to follow and perform image calibration with the image_proc package as outlined here:

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

The yaml file i created had the dimensions of the ROI (1100x1100). When I tried to use this calibration file with this package, i ran into the following error:

OpenCV Error: Assertion failed (0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows) in Mat, file /Users/artemlenskiy/ros/hydro/src/opencv2/modules/core/src/matrix.cpp, line 323
OpenCV Error: Assertion failed (0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows) in Mat, file /Users/artemlenskiy/ros/hydro/src/opencv2/modules/core/src/matrix.cpp, line 323

I believe the issue I'm running into is something similar to this:

ros-drivers/camera1394#36

As a work around, I abandoned image_proc for rectification and instead used this package:

https://github.com/team-vigir/vigir_wide_angle_image_proc

Which uses this matlab toolbox to calculate the calibration:

https://sites.google.com/site/scarabotix/ocamcalib-toolbox

Not sure what can be done so that a calibrated ROI could be used.

Point Grey have changed how their download centre works; the archive links now need to be authenticated. This makes the process of downloading at configure time more complicated. :(

Will need to switch away from CMake's file(DOWNLOAD) and probably use a curl invocation instead, in order to supply credentials to the login form.

A better approach is probably to manage a bunch of this in a single Python script. eg,

Login and get cookies: http://stackoverflow.com/a/189580/109517

Download file: http://stackoverflow.com/a/22682/109517

Hi to everyone,

I have a FLEA3 USB Camera which is recognized my my system as you can see from the following screenshot. (This is done via the flycapture SDK).

Then I try to launch:
rosrun pointgrey_camera_driver list_cameras
and it also works:

Then I try to launch a camera_node:
rosrun pointgrey_camera_driver camera_node

After that I try to see the camera feed through rqt_image_view

But the core dumps. I have this:

Could you please help me?

This camera is working perfectly on another laptop of a colleague.

Thanks in advance.

EDIT: I don't know if it can help but the Linux Kernel I am at is:
Linux 4.4.0-45-generic #66~14.04.1-Ubuntu SMP Wed Oct 19 15:05:38 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux

sometimes it happens that the image is cropped the wrong way, like the image below:

however, if I unsubscribe and resubscribe to the image topic, that can change. So after resubscribing the image can be cropped right or wrong, it's random.

I use Ubuntu 14.04 and the cameras are connected to USB 3.0

Hello,

I'm following the instructions on http://wiki.ros.org/pointgrey_camera_driver for using the Bumblebee2 camera. Packages install quite happily. However, when attempting to list the cameras, 'rosrun pointgrey_camera_driver list_cameras', it doesn't find the connected device. The prompt suggests to restart udev and replug the camera.

It's at this point that nothing changes; the attached camera isn't found. When I 'udevadm monitor', it shows the device being removed, and then added, when I unplug and replug in the camera.

I can run the camera1394stereo package and it connects happily enough; however I'm interested in trying this package because, well, I'm using it with products from Clearpath!

I guess my 2 questions are:

1. What is the package looking for when attempting to list cameras? Mine shows up as 'fw1' in /dev.

2. What else am I doing wrong?

Thanks!
Matt

Model: Chameleon3 CM3-U3-13S2C
ROS: Indigo
Machine: 64 Bit Intel
OS: 64Bit Ubuntu 14.04.1

Further context here: http://answers.ros.org/question/231635/ros-point-grey-chameleon-usb3-cam-no-colour-images/

Temporarily resolved by switching to Kumar Robotics' ROS stack for Point Grey USB3 Cameras, which works for me.

We are trying to trigger the CM3-U3-13S2C-CS camera at 30Hz (which is it's limit) but when triggering the camera at 30 Hz, it ends up taking only every other pulse, resulting in a speed of about 15Hz. With an external trigger, the camera only runs up to 27 Hz and above that runs at half speed.

The command we are using is:

rosrun pointgrey_camera_driver camera_node _enable_trigger:=true

How can we trigger the camera at 30Hz?

Ubuntu 12.04 - ROS hydro - Camera PointGrey BFLY-PGE-13E4C-CS
It says this when it try to run it:

[rosrun] Couldn't find executable named list_cameras below /opt/ros/hydro/share/pointgrey_camera_driver

Manual install and copy/paste required before camera is detected.

This is with a BlackFly BFLY-PGE-05S2C-CS on Ubuntu 14.04. In SetWhiteBalance, iit looks like the write it does to the white balance register (0x080C) only takes effect after the write bit (bit 6 in the PGR docs, but bit 25 in the driver) is written as a 0 and then a 1. The "enable" bit which was mentioned in the change log doesn't have any effect for me on the results.

I also see this in FlyCapture.

I don't understand why the write bit is even there and the scope of my lack of understanding of how it functions may be more profound than this description.

Is there any particular reason for using uint16_t instead of just unsigned?
e.g. bool PointGreyCamera::setWhiteBalance(uint16_t &blue, uint16_t &red)

Now I want to use a blackfly GigE 3.0 camera and ar_track_alvar to track a marker. Then I need a /tf which comes from the camera. Does anybody know how to do it?

Thank you!

Hi everyone, i`m using a Pointgrey Blackfly Camera (BFLY-PGE-23S6C, 1920x1200) through ROS pointgrey_camera_driver.
My camera works perfectly on FlyCap2, where i can easly reach 40Hz of framerate (the max framerate for that camera model is 41).

When i work with point_grey_camera driver with this launch file:

<node pkg="nodelet" type="nodelet" name="camera_nodelet"
      args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
  <param name="frame_id" value="camera" />
  <param name="serial" value="$(arg camera_serial)" />

  <!-- When unspecified, the driver will use the default framerate as given by the
       camera itself. Use this parameter to override that value for cameras capable of
       other framerates. -->
       <param name="frame_rate" value="35" />
       <param name="format7_color_coding" value="Mono8" /> 
  <!-- Use the camera_calibration package to create this file -->
  <param name="camera_info_url" if="$(arg calibrated)"
         value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
      args="load image_proc/debayer camera_nodelet_manager">

</node>

I can reach only 12Hz of framerate on "camera/image_raw" topic.
It doesn`t matter which videomode i choose, the max framerate is always 12Hz.

I tried Raw8,Raw16,Mono8 and Mono16. I get always the same max framerate.
This means that the Bandwith is variable, but not directly by setting one specific parameter.

After this, when i run Flycap2, i noticed that the Packet Size and Packet Delay values were changed, and obviously the Bandwith too.

Is there anything i can do in order to increase the framerate and reach 35Hz or 40Hz?

Hi I am trying to set 2x2 (mode 4) binning on Chameleon 3 (13Y3C) which is supported according to the Technical reference thorough a ROS launch file but cannot find the appropriate parameters to set. I can bin the image using Flycap software but not through ROS driver/launch file. Any help regarding this? Thank you.

I am using Ubuntu 14.04 with a USB-3 Pointgrey camera. Everything looks no problem that I can find the camera and receive correct information using list_cameras launch file. When I run camera.launch, it seems working properly as well that bunch of topics will be published. However, I could't get image from any of the topics by image_view or RVIZ. Them just show a gray image without any error.

Some output listed below:
rosrun image_view image_view image:=/camera/image_raw
[ INFO] [1459439160.156610663]: Using transport "raw"

Any suggestion or help will be greatly appreciated. Thanks.

Hi,

Having the ability to flip or mirror a image from a camera would be very useful (I'm using a FireFly MV on the USB bus) and our hardware mounting is such that I need one camera flipped horizontally.

According to PointGrey's Register Reference, it can be enabled by setting the register IMAGE_DATA_FORMAT(0x1048) , bit 23 to 1 or 0 as required. It will do image flip on-camera in DMA buffers.
https://pixhawk.ethz.ch/_media/dev/electronics/cameras/point_grey_digital_camera_register_reference.pdf

I'm willing to implement this myself, so some guidance would be highly appreciated.

Thanks,
Kabir

I want to use BumblebeeXB3 in ROS, and pointgrey_camera-driver is available.But bumblebee.launch can only get image from the left and right camera, it cannot get image from three cameras at the same time.So, how can I fix it? Thanks.

I'm trying to use the driver to ultimately get rectified images from an ethernet blackfly. I followed the example launch file, was able to see images and perform camera calibration. However, when i saved off the yaml and tried to use the example launch file to load the calibration file, it doesnt seem to load. No error is thrown, but if i "rostopic echo /camera/camera_info" nothing is printed to terminal and it just hangs. I triple checked the file location and even tried moving and renaming it.

Has this been tested? Is it known to work? Here's my launch file:

<node pkg="nodelet" type="nodelet" name="camera_nodelet"
      args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
  <param name="frame_id" value="camera" />
  <param name="serial" value="$(arg camera_serial)" />
  <param name="format7_x_offset" value="700" />
  <param name="format7_roi_width" value="1100" />
  <param name="format7_y_offset" value="450" />
  <param name="format7_roi_height" value="1100" />
  <param name="auto_exposure" value="false" />
  <param name="exposure" value="2.0" />
  <param name="frame_rate" value="15" />

  <param name="camera_info_url" if="$(arg calibrated)"
         value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
      args="load image_proc/debayer camera_nodelet_manager">
</node>

<!-- Rectify monochrome images -->
<node pkg="nodelet" type="nodelet" name="rectify_mono"
      args="load image_proc/rectify camera_nodelet_manager">
</node>

<!-- Rectify color images - need to remap default topics -->
<node pkg="nodelet" type="nodelet" name="rectify_color"
      args="load image_proc/rectify camera_nodelet_manager">
  <remap from="image_mono" to="image_color" />
  <remap from="image_rect" to="image_rect_color" />
</node>

Setting these can really improve the number of images that are received with no problem.

Implementation wise, this is a bit hairy, and there are multiple possible approaches.

The Flycap library supports two camera classes: Camera and GigECamera. The first provides functionality for the FireWire (and USB, I believe) cameras, and some partial support for GigE cameras, mapping video mode request to appropriate GigE window and binning requests. They share a common abstract base class CameraBase, but it only has support for the intersection of common functionality.

Trying to use CameraBase pointers everywhere doesn't work because the driver uses Camera specific functionality to set the video modes, and setting the packet size and delay also needs GigECamera specific functionality.

Having both objects around, with only one actually active and connected should work (though be vary complicated in ensuring the use of the right object at the right times), but then the video-mode settings (exposed via the dynamic reconfigure / parameters) would need to be emulated by hand rather than via the Camera class in the GigE case.

Restricting the configuration to only supporting the mode 7 style settings in both cases would greatly simplify this emulation, but I expect this is unacceptable for compatibility reasons.

Ubuntu 12.04 - ROS hydro - Camera PointGrey BFLY-PGE-13E4C-CS

I run this:
roslaunch pointgrey_camera_driver camera.launch camera_serial:=14212370
roslaunch pointgrey_camera_driver camera.launch camera_serial:=13421083

Both fail with the following outputs:

The first I run-----------
[camera/camera_nodelet_manager-2] process has died [pid 19061, exit code -11, cmd /opt/ros/hydro/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/dardo/.ros/log/9f92dc46-17d0-11e4-9d36-448a5b417b29/camera-camera_nodelet_manager-2.log].
log file: /home/dardo/.ros/log/9f92dc46-17d0-11e4-9d36-448a5b417b29/camera-camera_nodelet_manager-2*.log
[camera/camera_nodelet-3] process has finished cleanly

The second ------------

[ERROR] [1406714557.804578351]: Failed to find nodelet with name '/camera/camera_nodelet' to unload.
[ERROR] [1406714558.084333320]: Failed to find nodelet with name '/camera/image_proc_debayer' to unload.
[camera/camera_nodelet-2] process has finished cleanly

Then I modified the camera.launch replacing the namespace of group "camera" with an argument called "camera_name":

<launch>
  <arg name="camera_serial" default="0" />
  <arg name="camera_name" default="camera" />
  <arg name="calibrated" default="0" />
  <group ns="$(arg camera_name)">
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />

    <node pkg="nodelet" type="nodelet" name="camera_nodelet"
          args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
      <param name="frame_id" value="camera" />
      <param name="serial" value="$(arg camera_serial)" />

      <!-- Use the camera_calibration package to create this file -->
      <param name="camera_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
    </node>

    <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
          args="load image_proc/debayer camera_nodelet_manager">
    </node>
  </group>
</launch>

I launch both cameras with different "camera_name" argument : ... camera_name:=pg1 camera_name:=pg2 and no errors.
But when I run th rqt_gui with two rqt_imageview in orther to see both at the same time I get this error message in both terminals.

.............
[ERROR] [1406715162.555908850]: PointGreyCamera::grabImage Failed to retrieve buffer | FlyCapture2::ErrorType 41There is an image consistency issue with this image.
[ERROR] [1406715162.698881298]: PointGreyCamera::grabImage Failed to retrieve buffer | FlyCapture2::ErrorType 41There is an image consistency issue with this image.
.............

None of the three msg packages bundled in this repo really belong here—

image_exposure_msgs
statistics_msgs
wfov_camera_msgs

To put these in sensor_msgs, though, they should undergo a formal review beforehand, so it's probably not realistic for Indigo. Then again, maybe a new image_msgs or camera_msgs repo would be a better container for them, in which case they could go there now, and be reviewed for J-Turtle.

@chadrockey, @tfoote: Thoughts on this?

Calling GetCameraInfo takes 40ms, but the result never changes. Many pointgrey cameras can get higher than 24fps, so it'd probably be good to move that somewhere so it only runs once.

Now I am using Ubuntu 14.04.3 and ROS indigo to run blackfly GigE. After running "roslaunch camera.launch" and rviz, I could get the picture from the camera, but the problem is the picture is green.

I think it is white balance problem. Does anybody know how to fix it?

Thank you!

Now I have two blackfly cameras. I want to run them in ROS and trigger them with software. Does anybody know how to do it? Thank you!

I use NVIDIA Jetson TX1 which has armhf 32bit architecture, and it seems that only pointgrey_description is released and pointgrey_camera_driver is not yet released.

ubuntu@tegra-ubuntu:~$ apt-cache search pointgrey
ros-indigo-pointgrey-camera-description - A series of URDF driver decriptions for Point Grey cameras
ros-jade-pointgrey-camera-description - A series of URDF driver decriptions for Point Grey cameras

It is very useful to release this driver package as apt package, because building on arm machine takes a lot time.

Now I have a blackfly GigE camera. Once something wrong happened, for example, the Ethernet cable is disconnected, we have to restart the driver to bring the camera back to life.

I am wondering if it is possible to change the ros driver, then we can reset the camera without restarting the driver and get the image when everything becomes fine.

Thank you!

Hi, I have a USB3 flea3 color camera. According to the flycap driver PropertyInfo structure it should support both auto and manual white balance. When I try changing those properties (white_balance_blue and white_balance_red) with rqt_reconfigure, the driver throws an error:

Reconfigure Callback failed with error: PointGreyCamera::setWhiteBalance  Failed to set value. | FlyCapture2::ErrorType 26Property not present.

I have verified that the blue/red values are in the valid range (0,1023). The PropertyInfo.present flag is true, also. Any idea why it might not be working?

Thanks.

Looked in the python script which downloaded the Flycapture SDK and there is no check for ARM (well actually it seems like it might be commented out). Would i be able to compile from source on arm7 (jetson tk1)? Would be nice to have since jetson is gigabit ethernet. Not sure if pointgrey's "flycapture.2.6.3.4_armhf" download is for arm7 or not though.

Hello!

I am installing pointgrey_camera_driver how writing in http://wiki.ros.org/pointgrey_camera_driver.
This two commands running succesful:
sudo apt-get install ros-indigo-pointgrey-camera-driver
rosrun pointgrey_camera_driver list_cameras

But following commands:

1. roslaunch pointgrey_camera_driver bumblebee.launch

[ERROR] [1449584576.466665790]: Reconfigure Callback failed with error: PointGreyCamera::setFormat7 Error validating Format 7 settings | FlyCapture2::ErrorType 22Error setting Format 7 information.
*** Error in `/opt/ros/indigo/lib/nodelet/nodelet': double free or corruption (out): 0xaf368510 ***
[FATAL] [1449584581.254265545]: Service call failed!
[camera/bumblebee_nodelet_manager-1] process has died [pid 22866, exit code -6, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=bumblebee_nodelet_manager _log:=/home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-bumblebee_nodelet_manager-1.log].
log file: /home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-bumblebee_nodelet_manager-1.log
[camera/image_proc_debayer_right-4] process has died [pid 22869, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/debayer bumblebee_nodelet_manager image_raw:=right/image_raw image_mono:=right/image_mono image_color:=right/image_color __name:=image_proc_debayer_right _log:=/home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-image_proc_debayer_right-4.log].
log file: /home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-image_proc_debayer_right-4.log

2. roslaunch pointgrey_camera_driver bumblebee.launch
   [ERROR] [1449584679.303730179]: Cannot load nodelet /camera/camera_nodelet for one exists with that name already
   [ERROR] [1449584679.311160908]: Cannot load nodelet /camera/image_proc_debayer for one exists with that name already
   [FATAL] [1449584679.359448473]: Service call failed!
   [FATAL] [1449584679.367674045]: Service call failed!

3. roslaunch pointgrey_camera_driver camera.launch camera_serial:=15206900

[FATAL] [1449584679.303966112]: Service call failed!
[FATAL] [1449584679.311365468]: Service call failed!
[ERROR] [1449584679.358053649]: Failed to find nodelet with name '/camera/camera_nodelet' to unload.
[ERROR] [1449584679.366798929]: Failed to find nodelet with name '/camera/image_proc_debayer' to unload.
[camera/camera_nodelet-2] process has died [pid 24110, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager __name:=camera_nodelet _log:=/home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-camera_nodelet-2.log].
log file: /home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-camera_nodelet-2.log
[camera/image_proc_debayer-3] process has died [pid 24111, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/debayer camera_nodelet_manager __name:=image_proc_debayer _log:=/home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-image_proc_debayer-3.log].
log file: /home/anastasia/.ros/log/1e99c942-9db7-11e5-9030-f079595ab174/camera-image_proc_debayer-3.log

What may be associated with these errors?

Here's my issue:

I launch 2 Flea3 USB3 cameras with separate namespaces and separate nodelet managers: works as expected

Everything works fine, the topics are publishing and I get this result, as expected:

Now everything continues to work just fine if I open 1 image at a time in either image_view or rviz.

Here's the issue, when I open both images at the same time everything falls apart. I also tried launching image_view as a nodelet inside the individual namespaces with separate nodelet managers. I get a strange result after attempting to open simultaneously:

I can get both to display in image_view with a modified versions of the camera1394, libdc1394, and libusb. But not with the pointgrey_camera_driver.

I know this was brought up in a closed issue, but it did not have resolution there. Anyone have an idea why this might be happening? I am completely stumped....

hi,
i want to know if this pkg support Bumblebee3 and ladybug3? if not, could you please tell which pkg could support these kind of sensors.
thanks.

There is a bug in flycapture 2.7 which prevent simultaneous operation of multiple cameras on single PC. The bug is known to Point Grey support. I would suggest to downgrade the flycapture version to latest 2.6. This is important because current deb form pcakeges.ros.org contains non working version of the driver.

Sometimes I got "PointGreyCamera::start Failed to start capture | FlyCapture2::ErrorType Failed to set isochronous bus speed to BUSSPEED_S_FASTEST" problem when I run the pointgrey_camera_driver, When I restart the power, everything is fine, Does anyone know how to solve this ?
I use ubuntu16.04 and ros kinetic, the two camera I use are Flea3 GigE camera.

Now I have two pointgrey cameras and want to run them at the same time. When I run two launch file for each camera, it seems fine. But when I run two rviz to subscribe the two topics for each camera, the "image consistency error" comes out.

How could I fix it? Thank you!

I am running ubuntu 14.04 with Indigo and a pointgrey blackfly. I'm booting a bunch of nodes as seen below.

<!-- Point Grey Blackfly -->

<arg name="camera_serial" default="0" />
<arg name="calibrated" default="0" />

  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />
    <node pkg="nodelet" type="nodelet" name="camera_nodelet"
      args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
      <param name="frame_id" value="$(arg sensor_frame_prefix)/camera_link" />
      <param name="serial" value="$(arg camera_serial)" />
      <param name="frame_rate" value="10" />
      <param name="camera_info_url" if="$(arg calibrated)"
        value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
    </node>
    <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
      args="load image_proc/debayer camera_nodelet_manager">
    </node>
    <node pkg="nodelet" type="nodelet" name="rectify_mono"
      args="load image_proc/rectify camera_nodelet_manager">
    </node>
</group>

Every second time I run the launch file that contains this script, the camera does not work correctly and instead repeatedly prints the error posted below. When this occurs I do not get any images from the camera at all. The rectify_mono node seems most linked to the issue as it mainly seems to occur when I'm trying to run that node. No turns out this was just the only camera image that was being used. The error will occur every 2nd time I run the code as soon as I pull up an image_view on any image

[ERROR] [1445558727.357774357]: PointGreyCamera::grabImage Failed to retrieve buffer | FlyCapture2::ErrorType 41There is an image consistency issue with this image.

A common fix to this problem was to increase socket buffer size, but this does not seem to have helped.

Hi,

I am trying to set a different mode for my flea FL3-U3-32S2C. I can do through the flycapture GUI but not through a launch file. In particular I would like to set:
<param name="video_mode" value="format7_mode4" />

The launch file I am using is the following.

<launch>
   <!-- Determine this using rosrun pointgrey_camera_driver list_cameras.
       If not specified, defaults to first camera found. -->
  <arg name="camera_serial" default="15357017" />
  <arg name="calibrated" default="1" />

<!-- The camera flea3 that we have has the following Serial number : 15357017 -->

  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />

    <node pkg="nodelet" type="nodelet" name="camera_nodelet"
          args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
      <param name="frame_id" value="camera" />
      <param name="serial" value="$(arg camera_serial)" />

      <!-- When unspecified, the driver will use the default framerate as given by the
           camera itself. Use this parameter to override that value for cameras capable of
           other framerates. -->
      <param name="frame_rate" value="25" />
      <param name="video_mode" value="format7_mode4" />
      <!-- Use the camera_calibration package to create this file -->
      <param name="camera_info_url" if="$(arg calibrated)"
             value="file://$(env HOME)/.ros/camera_info/$(arg camera_serial).yaml" />
    </node>

  </group>
</launch>

The goal would be to change the resolution of the image without changing the Region of Interest. I know it should be possible but until now I did not succeed to do it via ROS.

Thanks for any help,
Fabrizio

I've been trying the tutorials found here:

http://www.clearpathrobotics.com/assets/guides/ros/ROS%20Navigation%20Basics.html

which involves downloading and installing pointgrey_camera_driver. However, cmake fails to compile the package, because either the SDK or the headers are not being downloaded and installed properly (i'm not sure which). I noticed that the SDK was updated from version 2.9.3.13 to 2.9.3.43 on 27/04/2016 - less than a week ago, and I believe this is part of the problem. See here for more info:

http://answers.ros.org/question/233456/jackal-tutorial-no-longer-builds-properly/

Regardless, the problem can be solved by manual installing the 2.9.3.43 SDK

The camera contrast is very low how can I fix the white balance parameters?

I'm having trouble using the driver on ubuntu 14.04 with a Grasshopper 3 USB3 camera. It was working fine on the same computer on 12.04. The nodelet runs but I don't see anything messages on the topics that get advertised. I get no errors.

Running list_cameras hangs for 20s before producing outputs. I checked out some of the flycap examples and they also seem to be having issues hanging, but at least they produced some output after an initial delay (not sure if the framerate of the output was correct though).

Is there anything you are aware that needs to be done in order for the driver / flycap to work on 14.04?

Thanks,

Right now this is manual:

sudo udevadm control --reload-rules
sudo udevadm trigger

Normally one would use dh_installudev, but since we don't have the ability to modify debian/rules from the bloom default, it may be simpler to just place these in a debian/postinst script.

Related QA link: http://answers.ros.org/question/133966/install-directly-to-etcudevrulesd/

@jbohren has given his blessing to cribbing the ones from here:

https://github.com/jhu-lcsr/lcsr_camera_models/tree/master/cameras

The default launch file causes the framerate of the camera to default to 7Hz or less. The solution is to add this param to the launch file:

<param name="frame_rate" type="double" value="30" />

This has been tested with the Bumblebee and FireflyMV cameras.

We previously updated to 2.7.3.13 and then reverted to 2.6.3.4 due to #28. It would be great if someone could take on checking what the story is with 2.8.x and multiple cameras (as well as checking for other regressions).

I am using Ubuntu 14.04 and ROS indigo to run two pointgrey GigE blackfly cameras.
Now the problems is every time after I power on the cameras and run the "camera.launch" file, I always get the following error:

[ERROR] [1458741761.509388400]: PointGreyCamera::start Failed to start capture | FlyCapture2::ErrorType 22Could not get the current video mode and frame rate.

[ERROR] [1458741936.227051214]: PointGreyCamera::connect could not discover GigE packet_size | FlyCapture2::ErrorType 1Failed to discover GigE packet size

[ERROR] [1458741969.818965453]: PointGreyCamera::start Failed to start capture | FlyCapture2::ErrorType 33Error starting isochronous stream.

But when I tried to detect the cameras with rostopic "/diagnostics", I got nothing. I have to restart the launch, then it works fine. Does anybody could help me to fix these problems or tell me how to detect these errors? Thank you!

Whenever I try to set the video mode I get the following error:

[ERROR] [1427498291.273185190]: Reconfigure Callback failed with error: PointGreyCamera::setVideoMode Could not set video mode | FlyCapture2::ErrorType 7The given video mode and frame rate is not supported by this camera.

I've tried setting it in both via command line and the launch file. This is the line in the launch file:

param name="video_mode" value="Format0_Mode5"

I'm using a point grey grasshopper3 GS3-U3-23S6C camera. Using FlyCap2 I am able to adjust the resolution/mode without issue.

Any thoughts or help would be appreciated.

How is it possible to synchronize two Firefly MV cameras using this driver? Documentation is rather patchy.

Kabir

Hi,

Please, I set the default value of video_mode in PointGrey.cfg to format7_mode1 as in:

gen.add("video_mode", str_t, SensorLevels.RECONFIGURE_STOP, "Video mode.", "format7_mode1", edit_method = video_modes)

but the camera keeps loading format7_mode0.

Is there a way for the camera to load these parameters at launch time?

Thanks,
Pedro

The node runs perfectly but doesn't publish any images please help. The sdk GUI detected the camera as well and we were able to publish images using camera 1394 drivers.