flea3 (not maintained anymore, use https://github.com/ros-drivers/flir_camera_driver instead)
Another ROS driver for Point Grey USB3 camera.
Note:
The driver works with the following cameras:
Dependency:
camera_base
See the dynamic reconfigure file for all reconfigurable parameters.
These are the point-grey usb3 cameras that I have and tested with.
The ROS API of this driver should be considered unstable.
single_node is a node for a single flea3 camera.
~image_raw (sensor_msgs/Image)
The unprocessed image data.
~camera_info (sensor_msgs/CameraInfo)
Contains the camera calibration (if calibrated).
See the dynamic reconfigure file for all reconfigurable parameters.
Usage:
- single camera
roslaunch flea3 single_node.launch device:=13344889
- stereo camera
roslaunch flea3 stereo_node.launch left:=13344889 right:=14472242
Note that the stereo_node uses software trigger to synchronize two cameras and the delay is not compensated.
- Check available cameras
rosrun flea3 flea3_list_cameras
FlyCapture2 can be downloaded from here
Flycapture 2.8.3 generally works, so you can upgrade to it if you are using only 1 camera. The ros driver using Flycapture 2.8.3 does not work well with more than 1 cameras as explained below.
The issue is that when launching the second camera, the Camera.StartCapture() method creates a new thread and never exits, thus blocking the following acquisition. PtGrey is working on a new release to fix this issue.
Flycapture 2.7.3 also generally works, but it has issues with USB3 on Intel chips under Ubuntu system. You can get around with just using USB2 cable, but if you require high fps + high resolution, then you should use Flycapture 2.6.4.
What a mess.
Here is an article from matrix-vision on how to optimize USB performance.
Another article from point-grey on how to optimize USB performance.
In /etc/default/grub, change
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
to
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=1024"
then do
sudo update-grub
then restart and verify that
cat /sys/module/usbcore/parameters/usbfs_memory_mb
is 1024
Also it is recommended to upgrade your kernel to 3.16 by doing
sudo apt-get install linux-signed-generic-lts-utopic