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Point Grey Camera Driver Notes

The code for the Firefly MV camera is in the 'firefly_mv' branch.

Installation

Install the roslint dependency:

sudo apt-get install ros-hydro-roslint

Build using a normal catkin_make command. The pointgrey camera driver binaries and header files to build the driver will be automatically downloaded from the Point Grey Research web site during the build.

Before using the camera under ROS, the following udev rules need to added and udev restarted:

/etc/udev/rules.d/40-pgr.rules

ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2000", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2001", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2002", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2003", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2004", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2005", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3000", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3001", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3004", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3005", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3006", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3007", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3008", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="300A", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="300B", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3100", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3101", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3102", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3103", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3104", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3105", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3106", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3107", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3108", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3109", MODE="0666", GROUP="pgrimaging"
ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="3300", MODE="0666", GROUP="pgrimaging"
KERNEL=="raw1394", MODE="0666", GROUP="pgrimaging"
KERNEL=="video1394*", MODE="0666", GROUP="pgrimaging"
SUBSYSTEM=="firewire", GROUP="pgrimaging"
SUBSYSTEM=="usb", GROUP="pgrimaging"

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Usage

Additional information on the driver at the following URL:

http://wiki.ros.org/pointgrey_camera_driver

Launch first detected camera:

roslaunch pointgrey_camera_driver camera.launch

List detected cameras:

rosrun pointgrey_camera_driver list_cameras

Launch specific camera:

roslaunch pointgrey_camera_driver camera.launch camera_serial:=10022945

Launch specific calibrated camera:

roslaunch pointgrey_camera_driver camera.launch camera_serial:=10022945 calibrated:=1

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Viewing The Camera Image

rosrun rviz rviz

or

rosrun image_view image_view image:=/camera/image_raw

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Camera Calibration

Camera calibration information is here:

http://wiki.ros.org/camera_calibration

and here:

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

Sample calibration command line:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.060 image:=/camera/image_raw camera:=/camera