Contents
Home of the unnoficial ROS driver for MatrixVision BlueFox cameras.
Installing the mvIMPACT Acquire Library
1. Download the latest drivers from Matrix-Vision drivers page:
- Select mvBlueFOX / mvBlueFOX-MLC in the drop down fields. Download the latest Linux drivers (e.g. mvVirtualDevice x86_XXXXXXXX.tgz) and unpack the archive in to a directory:
1 $ cd ~/src (or wherever you want to install this package)
2 $ tar xvzf mvVirtualDevice\ x86_XXXXXXXX.tgz
3
4 # It may just be enough to copy the contents of the “lib” folder (including sumlinks) into /usr/local/lib, as:
5 $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/lib
6 $ sudo cp -P lib* /usr/local/lib/
7 $ sudo ldconfig
8
9 # vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
10 # NEEDS REVISION:
11 # Copy the included udev rules for the device from your mv_bluefox_driver directory (TODO)
12 $ sudo cp path_to/mv_bluefox_driver/rules/51-mvbf.rules /etc/udev/rules.d/
13 # Unplug the camera and restart the udev service:
14 $ sudo service udev restart
15 # Plug back the camera
16
17 # Now, compile the apps given as demo:
18 $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/apps
19 $ make
20
21 # You may want to run the wxPropGrid to test the camera
22 $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/wxPropGrid
23 $ make
24 # Run the wxPropView program
25 $./wxPropView
26 # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Example
The driver can be run as a regular node by launching:
1 roslaunch mv_bluefox_driver camera_node.launch
OR
The driver can be launched as a nodelet as:
1 roslaunch mv_bluefox_driver camera_nodelet.launch
The camera can be calibrated via the camera_calibration package from image_pipeline by launching:
1 roslaunch mv_bluefox_driver calibrate_camera.launch
NOTE: You must modify the checkerboard patter calibration parameters to suit your own.
After a .yaml calibration file has been properly generated, the actual rectified images can be processed further via image_pipeline's image_proc. Thus, the following launchers achieve that, respectively.
1 roslaunch mv_bluefox_driver camera_node_proc.launch
OR
1 roslaunch mv_bluefox_driver camera_nodelet_proc.launch
Nodes
mv_bluefox_driver
The mv_bluefox_driver node wraps the official driver for MatrixVision BlueFox devices and advertises sensor_msgs/Image messages published by image_transport::Publisher (API) as well as the corresponding camera information as sensor_msgs/CameraInfo. These can be further processed via the image_pipeline's image_proc (see the Example section for launching).Published Topics
~camera_info (sensor_msgs/CameraInfo)- Camera parameters information server
- Unprocessed (raw) image data
Parameters
~frame_id (string, default: camera)- The camera's frame name (id).
- The camera_info path and name for the calibration yaml file (e.g. "whatever_path/mv_bluefox_calibration.yaml")
TODO
1. Add more configurable parameters. For now, only the default camera resolution is being used.
