<<PackageHeader(mv_bluefox_driver)>> <<TOC(4)>> Home of the unnoficial ROS driver for MatrixVision BlueFox cameras. == Installing the mvIMPACT Acquire Library == 1. Download the latest drivers from Matrix-Vision [[http://www.matrix-vision.com/mvvirtualdevice-442.html | 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: {{{ #!shell $ cd ~/src (or wherever you want to install this package) $ tar xvzf mvVirtualDevice\ x86_XXXXXXXX.tgz # It may just be enough to copy the contents of the “lib” folder (including sumlinks) into /usr/local/lib, as: $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/lib $ sudo cp -P lib* /usr/local/lib/ $ sudo ldconfig # vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv # NEEDS REVISION: # Copy the included udev rules for the device from your mv_bluefox_driver directory (TODO) $ sudo cp path_to/mv_bluefox_driver/rules/51-mvbf.rules /etc/udev/rules.d/ # Unplug the camera and restart the udev service: $ sudo service udev restart # Plug back the camera # Now, compile the apps given as demo: $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/apps $ make # You may want to run the wxPropGrid to test the camera $ cd your_path_to_mvIMPACT_acquire-XXXXXXX/wxPropGrid $ make # Run the wxPropView program $./wxPropView # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ }}} == Example == The driver can be run as a regular node by launching: {{{ #!shell roslaunch mv_bluefox_driver camera_node.launch }}} OR The driver can be launched as a ''nodelet'' as: {{{ #!shell roslaunch mv_bluefox_driver camera_nodelet.launch }}} The camera can be calibrated via the [[camera_calibration]] package from [[image_pipeline]] by launching: {{{ #!shell 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. {{{ #!shell roslaunch mv_bluefox_driver camera_node_proc.launch }}} OR {{{ #!shell roslaunch mv_bluefox_driver camera_nodelet_proc.launch }}} == Nodes == {{{ #!clearsilver CS/NodeAPI name = mv_bluefox_driver desc = The `mv_bluefox_driver` node wraps the official driver for MatrixVision ''BlueFox'' devices and advertises <<MsgLink(sensor_msgs/Image)>> messages published by `image_transport::Publisher` ([[http://www.ros.org/doc/api/image_transport/html/classimage__transport_1_1Publisher.html|API]]) as well as the corresponding camera information as <<MsgLink(sensor_msgs/CameraInfo)>>. These can be further processed via the [[image_pipeline]]'s [[image_proc]] (see the [[#Example|Example]] section for launching). pub { 0{ name = ~camera_info type = sensor_msgs/CameraInfo desc = Camera parameters information server } 1{ name = ~image_raw type = sensor_msgs/Image desc = Unprocessed (raw) image data } } param{ 0.name = ~frame_id 0.type = string 0.default = `camera` 0.desc = The camera's frame name (id). 1.name = ~calibration_file 1.type = string 1.default = `""` 1.desc = 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. ## AUTOGENERATED DON'T DELETE ## CategoryPackage