DISCLAMER:
This project was created within an academic research setting, and thus should be considered as EXPERIMENTAL code. There may be bugs and deficiencies in the code, so please adjust expectations accordingly. With that said, we are intrinsically motivated to ensure its correctness (and often its performance). Please use the corresponding web repository tool (e.g. github, bitbucket, etc) to file bugs, suggestions, pull requests; we will do our best to address them in a timely manner.
ADDITIONAL NOTE: This repo is the developed based on the merge of https://github.com/anqixu/ueye_cam and https://github.com/ProjectArtemis/ueye_cam. It is aimming to enable updated version of the Ueye camera driver, with the capability of hardware syncronisation with px4 through mavros (default enabled). It also has adaptive exposure control to opimise the exposure setting for slam in realtime while avoid over exposure to clash with the sync signal. It remains the capabilities of auto standby mode with external trigger.
px4 setup:
1.GPIO trigger mode
2.TRIG_INTERVAL: 33.33 ms
3.TRIG_POLARITY: 0 (active low)
4.TRIG_ACT_TIME: 0.5 ms. The manual specifies it only has to be a minimum of 1 microsecond.
5.TRIG_MODE: 1, because we want our camera driver to be ready to receive images before starting to trigger. This is essential to properly process sequence numbers.
6.TRIG_PINS: 56, Leave default.
LAYOUT:
- ueye_cam/
- cfg/: dynamic_reconfigure configuration files
- include/: header files
- launch/: roslaunch files
- src/: source files
- CMakeLists.txt: CMake project configuration file
- LICENSES: license agreement
- package.xml: ROS/Catkin package file
- nodelet_plugins.xml: ROS nodelet specification file
- README.md: this file
- ~/.ros/camera_info/: camera calibration yaml files (see documentation for camera_calibration ROS package for more details)
- ~/.ros/camera_conf/: UEye camera parameter configuration files (generatable using ueyedemo executable: File -> save parameter -> to file...)
DOCUMENTATION:
Copyright (c) 2013-2016, Chang Liu, Kabir Mohammed, Anqi Xu and contributors
All rights reserved.
BSD3 license: see LICENSE file