检测1:
检测2:
官网:
http://blog.sina.com.cn/s/blog_661159d50100quaf.html
TRY GET FROM :http://ninghang.blogspot.com/2011/11/running-bumblebee2-on-ros-tutorial.html
Bumblebee2 is a third party package for Point Gray stereo camera. To use the camera in ROS, first checkout the package in svn repository
http://cu-ros-pkg.googlecode.com/svn/trunk/bumblebee2
To use Bumblebee2, you also need the dependency libdc1394v2, which is available at http://cornell-ros-pkg.googlecode.com/svn/trunk/bumblebee2/camera_drivers_experimental/libdc1394v2
Put both packages in the package path of ROS. rosdep install and rosmake Bumblebee2. Connect Bumblebee2 to your computer and start roscore.
Then you run
To use Bumblebee2, you also need the dependency libdc1394v2, which is available at http://cornell-ros-pkg.googlecode.com/svn/trunk/bumblebee2/camera_drivers_experimental/libdc1394v2
Put both packages in the package path of ROS. rosdep install and rosmake Bumblebee2. Connect Bumblebee2 to your computer and start roscore.
Then you run
- rosrun bumblebee2 bumblebee2
- add "left_cam_info_.D.resize(5);" and right_cam_info_.D.resize(5);
- right_cam_info_.distortion_model = left_cam_info_.distortion_model = "plumb_bob"
Now rosmake the package again, and run the node. Probably you will not see the segmentation errors.
Then you can view the images from left and right cameras. But now you probably find images from the left cameras is full of noise and also seems to come from the right one. This is because the default output format is not set to "FORMAT7_MODE3", which is the stereo output format.
To correct this, go to "dev_camera1394.cpp" and replace "videoMode_" with DC1394_VIDEO_MODE_FORMAT7_3". Try it again to see if it is working. If you still get errors, you can add the following
- if (DC1394_SUCCESS != dc1394_format7_set_packet_size(camera_,DC1394_VIDEO_MODE_FORMAT7_3,Package_size)) { ROS_WARN("Failed to set package size"); DMA_Success = false; }
Here you need to specify a integer for Package_size. You can find the range by using Coriander, under the "ROI" tab. In my case, I set it to 2000.
Now try it again and see how it is going.
Thanks to Bram van de Klundert. See more reference below:
http://answers.ros.org/question/1096/segmentation-fault-of-bumblebee2?answer=1891#1891
http://answers.ros.org/question/1118/bumblebee2-640x480-under-diamondback
Next you can follow the ROS tutorial on stereo processing: http://www.ros.org/wiki/stereo_image_proc
Thanks to Bram van de Klundert. See more reference below:
http://answers.ros.org/question/1096/segmentation-fault-of-bumblebee2?answer=1891#1891
http://answers.ros.org/question/1118/bumblebee2-640x480-under-diamondback
Next you can follow the ROS tutorial on stereo processing: http://www.ros.org/wiki/stereo_image_proc
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Anonymous April 17, 2012 at 3:04 PM
Hi, this post helped me so much! But I'm still getting a noisy left image. I wonder exactly what lines I have to change in "dev_camera1394.cpp" in order to change videoMode_ and add the code extract.
Reply
Thank you Ninghang!
Natalia.Replies-
Anonymous April 17, 2012 at 3:58 PM
Now it works fine. I found the answer at the link you've recommended: http://answers.ros.org/question/1118/bumblebee2-640x480-under-diamondback
Thank you for your attention anyway.
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