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 provided by Point Grey.

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