Running Bumblebee2 on ROS: tutorial[ROS下安装bumblebee2相机]

 

u can get :http://blog.sina.com.cn/s/blog_661159d50100quaf.html

install：

http://answers.ros.org/question/166/libdc1394v2#397

检测1：

http://www.ros.org/wiki/camera1394/Tutorials/ConnectingToIEEE1394Camera#Checking_Connectivity_with_Coriander

检测2：

http://www.ros.org/wiki/camera1394/Troubleshooting#No_Bus_Access_Permissions.

官网：

http://www.ros.org/wiki/camera1394/Tutorials

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
 

• rosrun bumblebee2 bumblebee2 

Probably you will get a segmentation error and you can't stop it with Ctrl+C. This is because ROS electric  has updated its image_pipeline package, which generates data leaking. To fix this, you can add two lines in "bumblebee2.cpp". Note that both lines are to be added at the beginning of the"updateBumblebee2CalibrationData" function.

• 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

Posted 24th November 2011 by  Ninghang

Labels:  Bumblebee2  electric  ROS  Segmentation Fault

  

2 

View comments

1. 转存失败重新上传取消
   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.
   Thank you Ninghang!
   Natalia.

   Reply
   Replies

    

   • 转存失败重新上传取消
     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.