Camera

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