Camera - luminositylab/autoware GitHub Wiki

Camera Setup

Prerequisites

attribute to spinnaker_sdk_camera_driver

The pre-requisites for this repo include:

  • ros-kinetic-desktop-full
  • Download and install spinnaker SDK
  • ros-kinetic-cv-bridge
  • ros-kinetic-image-transport
  • libunwind-dev
# after installing spinnaker verify that you can run your cameras with SpinView

# after installing ros, install other pre-requisites with: 

$ sudo apt install libunwind-dev ros-kinetic-cv-bridge ros-kinetic-image-transport

# After Downloading spinnaker SDK
$ cd <path/to/download>; tar xvzf <file>.tar.gz; cd <extracted/path>
$ ./install_spinnaker.sh

System Requisites

Following using-linux-usb3.

  • Installing and Configuring Linux
# These libraries are usually packaged with Ubuntu distributions or updates.If they are not pre-installed, use the apt-get terminal command
# Ubuntu 16.04
$ sudo apt-get install libraw1394-11 libgtkmm-2.4-1v5 libglademm-2.4-1v5 libgtkglextmm-x11-1.2-dev libgtkglextmm-x11-1.2 libusb-1.0-0
#
  • Configuring USBFS To set the maximum usbfs memory limit permanently:
  1. Open the /etc/default/grub file in any text editor. Find and replace:
    GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
    with this:
    GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=1000"
  2. Update grub with these settings:
    $ sudo update-grub
  3. Reboot and test a USB 3.1 camera.

If this method fails to set the memory limit, run the following command:
$ sudo sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'
To confirm that you have successfully updated the memory limit, run the following command:
cat /sys/module/usbcore/parameters/usbfs_memory_mb

Running

Follow the Autoware_spinnaker runtime_manager or launch method.

Other reference

Sensor Manual1
Sensor Manual2
SpinView App
USB3.0 Setting

Camera Hardware

Sensor -- Blackfly S BFS-U3-13Y3C

MODEL: 1.3 MP, 1280 X 1024, COLOR, 170 FPS, ON SEMI PYTHON 1300

OVERVIEWS

Spec1 Value Spec2 Value
Frame Rate 170 FPS Sensor Type CMOS
Resolution 1280 × 1024 Sensor Format 1/2"
Pixel Size 4.8 µm Megapixels 1.3 MP
Chroma color Pixel Size 4.8 µm
ADC 10-bit Lens Mount C-mount
Readout Method Global shutter

ENVIRONMENTAL

Environment Value
Operating Humidity 20 to 80% (no condensation)
Operating Temperature 0° to 50°C
Storage Humidity 30 to 95% (no condensation)
Storage Temperature -30° to 60°C

FEATURES

ITEM VALUE
Image Processing Color correction matrix, gamma, lookup table, saturation, and sharpness
Acquisition Modes Continuous, Single Frame, Multi Frame
Flash Memory 6 MB non-volatile memory
Image Buffer 240 MB
User Sets 2 user configuration sets for custom camera settings
Partial Image Modes Pixel binning, decimation, ROI

PERFORMANCE

ITEM VALUE
Absolute Sensitivity Threshold (y) 25.97
Temporal Dark Noise (e-) 9.45
Dynamic Range dB 55.33

PHYSICAL

ITEM VALUE
Auxiliary Output 3.3 V, 120 mA maximum
Interface USB 3.1 Gen 1
Non-isolated I/O Ports 1 bi-directional, 1 input
Opto-isolated I/O Ports 1 input, 1 output
Dimensions [W x H x L] 29 mm × 29 mm × 30 mm

POWER

ITEM VALUE
Power Consumption <3 W
Power Requirements 8-24 V via GPIO or 5 V via USB3

RECOMMENDED SYSTEM CONFIGURATION

ITEM VALUE
Hard Drive 200 MB hard drive space
RAM 2 GB RAM or more
Port USB 3 Port
Operating System Windows or Linux (32–bit or 64–bit)
CPU 3.1 GHz or equivalent CPU

Lens -- FUJINON DF6HA-1B

TECHNICAL Specification

ITEM VALUE
Format 1/2"
Mount C-Mount
Focal length 6 mm
Focus Manual
Iris Range F1.2 - F16
Iris Manual
Back Focal Distance (In Air) 11.44 mm
Exit Pupil Position (From Image Plane) -46 mm
Object Dimensions at M.O.D. 122 × 92 mm
Angular Field of View 56°09′ × 43°36′
Focusing Range (From Front of the Lens) ∞ - 0.1 m
Filter Thread M27 × 0.5 mm
Mass 55 g
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