PointGrey

BFLY-PGE-31S4C-C : Blackfly 3.2 MP Color GigE PoE (Sony IMX265), 2048x1536

2. PointGrey for ROS

2.1 Apt install

apt-get install ros-kinetic-pointgrey-camera-driver #ubuntu 18은 지원 안함

2.2 Source install

pointgrey_camera_driver

cd ~/catkin_ws/src/ && git clone https://github.com/ros-drivers/pointgrey_camera_driver.git
cd pointgrey_camera_driver
rosdep install --from-paths ./ --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws/ && catkin_make

2.4 테스트

List detected cameras:rosrun pointgrey_camera_driver list_cameras

Launch camera: roslaunch pointgrey_camera_driver camera.launch

여러 카메라 실행 : roslaunch pointgrey_camera_driver camera.launch camera_serial:=12345678

2.1 자체 툴 (IP등 카메라 설정)

Getting Started with FlyCapture 2.x and Linux

A. flycapture2 (ubuntu 14, 16)

  1. Download : flycapture2-2.9.3.43-amd64-pkg.tgz [Link]

    • wget https://github.com/adioshun/gitBook_SystemSetup/raw/master/09device-setup/flycapture2-2.9.3.43-amd64-pkg.tgz

  2. Dependent Package

    • 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
    • Ubuntu 14.04: sudo apt-get install libraw1394-11 libgtkmm-2.4-1c2a libglademm-2.4-1c2a libgtkglextmm-x11-1.2-dev libgtkglextmm-x11-1.2 libusb-1.0-0 libglademm-2.4-dev
    • Ubuntu 12.04: sudo apt-get install libraw1394-11 libgtk2.0-0 libgtkmm-2.4-dev libglademm-2.4-dev libgtkglextmm-x11-1.2-dev libusb-1.0-0 libglademm-2.4-dev

  3. echo "raw1394" >> /etc/modules # add the raw1394 module to be loaded on start.

  4. sudo sh install_flycapture.sh

  5. Validation

    cp -R /usr/src/flycapture ~
cd ~/flycapture/src/FlyCapture2Test
make
FlyCapture2Test

  6. Run

    • Applications -> Point Grey Research -> FlyCapture
    • $ FlyCap2

에러 : could not find glade file 'FlyCapture2GUI_GTK.glade -> 'locate FlyCapture2GUI_GTK.glade-> copy to~/flycapture/src/FlyCapture2Test`

Getting Started with FlyCapture 2.x and Linux

  1. Download

  2. Dependent package

    • Ubuntu 16.04: sudo apt-get install libavcodec-ffmpeg56 libavformat-ffmpeg56 libswscale-ffmpeg3 libswresample-ffmpeg1 libavutil-ffmpeg54 libusb-1.0-0

  3. sudo sh install_spinnaker.sh

C. PointGrey for Python : PyFlyCap2

pip install pyflycap2

Ethernet 기반 카메라 데이터 전송을 위한 전처리 

sudo sysctl -w net.core.rmem_max=1048576 net.core.rmem_default=1048576
sudo sh -c 'echo 1024 > /sys/module/usbcore/parameters/usbfs_memory_mb'

echo "net.core.rmem_max=1048576" >> /etc/sysctl.conf
echo "net.core.rmem_default=1048576" >> /etc/sysctl.conf

sudo sysctl -p
에러코드 해결책
Failed to start with error: PointGreyCamera::start Failed to start capture \ FlyCapture2::ErrorType 33 Error starting isochronous stream reducing the frame rate modprobe usbcore usbfs_memory_mb=1024
[영구 설정]
IMAGE_CONSISTENCY_ERRORS sudo sysctl -w net.core.rmem_max=1048576 net.core.rmem_default=1048576,
Packet size 중간, Packet delay 높게, Jumbo packet(MTU) 최대
Low level failure writing register 0x60c with value 0x8004. Error: 0x3
FlyCapture2::ErrorType 1 Failed to discover GigE packet size sudo ip link set eth0 mtu 9000
ip link show eth0

https://answers.ros.org/question/258537/pointgrey-camera-works-only-once/

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