<<StackHeader(iri_ueye_camera)>>
== Documentation ==

Driver for IDS Ueye cameras ( Based on models UI122xLE-M and UI122xLE-C). 

This ROS node is a wrapper of a c++ low-level driver library [[http://wiki.iri.upc.edu/index.php/Ueye_camera_driver|ueye_camera]]. For the users interested only in a ROS node without any low-level library you can check: 
[[http://wiki.ros.org/ueye_cam|ueye_cam]] 

=== Functionalities ===

Configure the camera parameters:

 * Default (param_mode=0)
 * User defined (param_mode=1, parameters loaded from .launch file)
 * Eeprom (param_mode=2)
 * Configuration file (param_mode=3, parameters loaded from the .ini file specified in the launch file).

== Dependencies ==

=== IDS Ueye low-level driver ===

[[http://en.ids-imaging.com/store/ui-1220le.html|ui-1220le]] 

=== IRI iriutils library ===

[[http://wiki.iri.upc.edu/index.php/Utilities_library|iri_utils]]

  {{{ 
  $ svn checkout https://devel.iri.upc.edu/pub/labrobotica/drivers/iriutils/trunk/ iriutils 

  $ cd iriutils 

  $ mkdir build 

  $ cd build

  $ cmake ..

  $ sudo make install
  }}}

=== IRI ueye_camera library ===

[[http://wiki.iri.upc.edu/index.php/Ueye_camera_driver|ueye_camera]]

  {{{
  $ svn checkout https://devel.iri.upc.edu/pub/labrobotica/drivers/ueye_camera/trunk ueye_camera

  $ cd ueye_camera/build

  $ cmake ..

  $  sudo make install
  }}}

== Launch ==

There is an example of launch file in the /launch folder.

=== Parameters ===

  '''''cameraid''''':

              Camera ID (you can find the ID in the console printed list.

  '''''param_mode''''': 

              To select the parameters loading method (0: Default, 1: User defined from launch file, 2: Eeprom, 3: From .ini file specified in the "file_str" parameter.

  '''''width''''': 
              Image width.

  '''''height''''': 
              Image height.

  '''''pixel_clock''''': 
              Camera pixel clock. ('''NOTE''': A pixel clock change may cause frame rate or exposure to change automatically, check those changes in the console).

  '''''fps''''': 
              Frame rate.

  '''''exposure''''': 
              Exposure time.

  '''''mirror_updown''''': 
              Image mirroring upside down. 

  '''''mirror leftright''''': 
              Image mirroring left side right.

  '''''camera_frame_id''''': 
              Frame id.

  '''''file_str''''': 
              Parameters file path (.ini).

  '''''D,K,R,P''''': 
              Intrinsic camera parameters.


== Report a Bug ==

<<GitHubIssues(org_unit_slash_repo_name)>> 
##i.e.<<GitHubIssues(ros/rosdistro)>>

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