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--- help:common:kamera_matlab_chameleon_en [2014/02/19 13:36]
zimmerk
+++ help:common:kamera_matlab_chameleon_en [2022/10/25 12:27] (current)
wagnelib [Camera Control (Python)]
@@ Line 2: / Line 2: @@
 Camera Chameleon is digital USB 2.0 camera //[[http://www.ptgrey.com/products/chameleon/Chameleon_datasheet.pdf|Chameleon]]// manufactued by [[http://www.ptgrey.com|PointGrey]].
-==== Camera control ====
+==== Camera control (Matlab on Windows) ====
 The camera can be operated in MATLAB via [[http://www.mathworks.com/access/helpdesk/help/toolbox/imaq/f9-75080.html|Image Acquisition Toolboxu]].
@@ Line 17: / Line 17: @@
 delete(vid);</code>
+==== Camera control (Matlab on Linux) ====
+   * In linux version of matlab the driver for the camera doe's not work properly, therefore we have added simple function to grab an image (**flygrab**).
+   * First add path to the flygrab directory:
+<code matlab>
+addpath('/opt/flygrab');
+</code>
+   * Then grab an image:
+<code matlab>
+img = flygrab();
+</code>
+   * In order to configuration the camera use the **FlyCap2** utility.
+==== Camera control (ROS) ====
+Driver documentation: [[http://wiki.ros.org/pointgrey_camera_driver|pointgray_camera_driver]]
+Start camera driver nodes:
+<code bash>
+# Assuming that the B3B33ROB ROS Enviroment was properly sourced i.e. :
+source /opt/ros/b3b33rob
+# just camera driver
+$ roslaunch b3b33rob_ros camera.launch
+# or camera with robot
+$ roslaunch b3b33rob_ros start_rv6sdl.launch camera:=true
+$ roslaunch b3b33rob_ros start_rv6s.launch camera:=true
+$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
+$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
+</code>
+Display camera stream:
+<code bash>
+$ rosrun image_view image_view image:=/camera/image_color
+</code>
+   * In order to configuration the camera use the **FlyCap2** utility.
+==== Camera Control (Python) ====
+From Python the library used for the communication with the camera is PyCapture2. There is an example of the camera usage in python:
+<code python>
+import PyCapture2
+import cv2
+import numpy as np
+# Initialize bus and camera
+bus = PyCapture2.BusManager()
+camera = PyCapture2.Camera()
+# Select first camera on the bus
+camera.connect(bus.getCameraFromIndex(0))
+# Start capture
+camera.startCapture()
+while True:
+  # Retrieve image from camara in PyCapture2.Image format
+  image = camera.retrieveBuffer()
+  # Convert from MONO8 to RGB8
+  image = image.convert(PyCapture2.PIXEL_FORMAT.RGB8)
+  # Convert image to Numpy array
+  rgb_cv_image = np.array(image.getData(), dtype="uint8").reshape((image.getRows(), image.getCols(), 3));
+  # Convert RGB image to BGR image to be shown by OpenCV
+  bgr_cv_image = cv2.cvtColor(rgb_cv_image, cv2.COLOR_RGB2BGR)
+  # Show image
+  cv2.imshow('frame',bgr_cv_image)
+  # Wait for key press, stop if the key is q
+  if cv2.waitKey(1) & 0xFF == ord('q'):
+    break
+</code>
+More documentation about the PyCapture2 can be found with this command:
+<code>
+evince /opt/salt-install/PyCapture2-2.13.31/docs/PyCapture2doc.pdf
+</code>
 ==== Parameter Settings ====
@@ Line 46: / Line 133: @@
   * Picture degradation (spillage) when using different image resolution.
+==== Parameter Settings (flycap2) ====
+   * In terminal run:
+<code shell>
+$ flycap2
+<code>