diff --git a/launch/iri_mvbluefox3_camera.launch b/launch/iri_mvbluefox3_camera.launch
index 9653d406069e4c68cd100211ce3783e1a11cb561..863a8997e674f64960217031939f033434e60cba 100644
--- a/launch/iri_mvbluefox3_camera.launch
+++ b/launch/iri_mvbluefox3_camera.launch
@@ -4,17 +4,18 @@
<arg name="num_cams" default="1" />
<arg name="c1_name" default="cam1" />
- <arg name="c1_serial" default="F0300141" />
+ <arg name="c1_serial" default="F0300123" />
<arg name="c1_frame_id" default="$(arg c1_name)" />
<arg name="c1_tf_prefix" default="" />
- <arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300141_params.xml" />
+ <arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300123_params.xml" />
+ <!--<arg name="c1_params_path" default="$(find iri_mvbluefox3_camera)/params/example_params.xml" />-->
<arg name="c1_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml" />
<arg name="c2_name" default="cam2" />
- <arg name="c2_serial" default="F0300123" />
+ <arg name="c2_serial" default="F0300141" />
<arg name="c2_frame_id" default="$(arg c2_name)" />
<arg name="c2_tf_prefix" default="" />
- <arg name="c2_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300123_params.xml" />
+ <arg name="c2_params_path" default="$(find iri_mvbluefox3_camera)/params/F0300141_params.xml" />
<arg name="c2_calib_file" default="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml" />
<node pkg="iri_mvbluefox3_camera"
diff --git a/params/F0300123_params.xml b/params/F0300123_params.xml
index b75af7e9ea97ebe079a6d0a89d0e9d3939bf2ad5..e50c22f4ffc83702ed0e0149baf3380994ac7242 100644
--- a/params/F0300123_params.xml
+++ b/params/F0300123_params.xml
@@ -1,12 +1,12 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<PropList contentDescriptor="mvBlueFOX3-M1012bC data(interface layout: GenICam)" name="DriverData" default="0" flags="3" size="7" parent="none" versionMajor="2" versionMinor="18" versionRelease="0">
+<PropList contentDescriptor="mvBlueFOX3-M1012bC data(interface layout: GenICam)" name="DriverData" default="0" flags="3" size="7" parent="none" versionMajor="2" versionMinor="17" versionRelease="0">
<PropList name="ImagingSubsystem" default="0" position="0" flags="3" size="5" parent="none">
<PropList name="Setting" default="0" position="0" flags="3" size="1" parent="none">
<PropList name="Base" default="0" position="0" flags="3" size="6" parent="none">
<PropList name="Camera" default="0" position="1" flags="3" size="3" parent="none">
<Property name="GenICamFeatureBag_91473E04-B76B-422d-8F52-A5D5A768C984" default="0" position="0" flags="7" size="1" formatString="%s" valType="4">
<Value index="0"># {05D8C294-F295-4dfb-9D01-096BD04049F4}
-# GenApi persistence file (version 3.0.0)
+# GenApi persistence file (version 3.0.1)
# Device = MATRIX_VISION::mvBlueFOX3 -- MATRIX VISION USB3Vision camera interface -- Device version = 53.0.0 -- Product GUID = 8A5441D1-A059-11E6-A17E-E9D83A4B713F -- Product version GUID = 8A5468E1-A059-11E6-8532-E9D83A4B713F
DeviceClockSelector Sensor
mvDeviceClockFrequency kHz_66000
@@ -22,7 +22,7 @@ Width 1280
Height 960
OffsetX 0
OffsetY 0
-PixelFormat BayerGR8
+PixelFormat RGB8
TestPattern Off
BinningHorizontal 1
DecimationHorizontal 1
@@ -31,14 +31,8 @@ ReverseX 0
ReverseY 0
AcquisitionMode Continuous
ExposureMode Timed
-ExposureTime 23399
-ExposureAuto Continuous
-mvExposureAutoLowerLimit 74
-mvExposureAutoUpperLimit 23399
-mvExposureAutoAverageGrey 50
-mvExposureAutoHighlightAOI Off
-mvExposureAutoAOIMode mvFull
-mvExposureAutoMode mvDevice
+ExposureTime 20000
+ExposureAuto Off
TriggerSelector FrameStart
TriggerMode Off
TriggerSelector AcquisitionStart
@@ -100,9 +94,8 @@ TriggerSelector FrameBurstActive
TriggerDelay 0
TriggerSelector FrameStart
mvAcquisitionFrameRateLimitMode mvDeviceLinkThroughput
-AcquisitionFrameRateEnable 1
-mvAcquisitionFrameRateEnable On
-AcquisitionFrameRate 25.3
+AcquisitionFrameRateEnable 0
+mvAcquisitionFrameRateEnable Off
AcquisitionFrameCount 1
mvAcquisitionMemoryMode Default
CounterSelector Counter1
@@ -166,49 +159,32 @@ TimerSelector Timer2
TimerDelay 0
TimerSelector Timer1
TimerSelector Timer1
-TimerValue 16407
+TimerValue 1128
TimerSelector Timer2
-TimerValue 14452
+TimerValue 12347
TimerSelector Timer1
GainSelector AnalogAll
-Gain 6.209
+Gain 0
GainSelector DigitalAll
Gain 0
GainSelector AnalogAll
GainSelector AnalogAll
-GainAuto Continuous
-GainSelector AnalogAll
-GainSelector AnalogAll
-mvGainAutoUpperLimit 32
-GainSelector AnalogAll
-GainSelector AnalogAll
-mvGainAutoLowerLimit 0
-GainSelector AnalogAll
-GainSelector AnalogAll
-mvGainAutoAverageGrey 50
-GainSelector AnalogAll
-GainSelector AnalogAll
-mvGainAutoHighlightAOI Off
-GainSelector AnalogAll
-GainSelector AnalogAll
-mvGainAutoAOIMode mvFull
+GainAuto Off
GainSelector AnalogAll
-mvGainAutoMode mvDevice
BlackLevelSelector All
BlackLevel 0
BlackLevelSelector DigitalAll
BlackLevel 0
-BlackLevelSelector DigitalAll
+BlackLevelSelector All
BlackLevelSelector All
BlackLevelAuto Continuous
-BlackLevelSelector DigitalAll
+BlackLevelSelector All
BalanceRatioSelector Red
-BalanceRatio 0.800271
+BalanceRatio 1.21
BalanceRatioSelector Blue
-BalanceRatio 3.30967
+BalanceRatio 1.9
BalanceRatioSelector Blue
-BalanceWhiteAuto Continuous
-mvBalanceWhiteAutoAOIMode mvFull
+BalanceWhiteAuto Off
mvLogicGateANDSelector mvLogicGateAND1
mvLogicGateANDSource1 Off
mvLogicGateANDSelector mvLogicGateAND2
@@ -405,7 +381,7 @@ EventSelector ExposureEnd
<Value index="0" val="Mono8_To_RGB888Packed"></Value>
</Property>
</PropList>
-<PropList name="DefectivePixelsFilter" default="0" position="2" flags="3" size="8" parent="none">
+<PropList name="DefectivePixelsFilter" default="0" position="2" flags="3" size="4" parent="none">
<Property name="Mode" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
<Value index="0" val="Off"></Value>
</Property>
@@ -415,12 +391,6 @@ EventSelector ExposureEnd
<Property name="ColdPixelDeviation_pc" default="0" position="2" flags="7" size="1" formatString="%d %%" valType="1">
<Value index="0" val="15 %"></Value>
</Property>
-<Property name="DefectivePixelOffsetX" default="0" position="4" flags="3" size="1" formatString="%d" valType="1">
-<Value index="0" val="0"></Value>
-</Property>
-<Property name="DefectivePixelOffsetY" default="0" position="5" flags="3" size="1" formatString="%d" valType="1">
-<Value index="0" val="0"></Value>
-</Property>
</PropList>
<PropList name="DarkCurrentFilter" default="0" position="3" flags="3" size="3" parent="none">
<Property name="Mode" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
@@ -1961,7 +1931,7 @@ EventSelector ExposureEnd
</PropList>
<PropList name="ImageDestination" default="0" position="4" flags="3" size="5" parent="none">
<Property name="PixelFormat" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
-<Value index="0" val="Mono8"></Value>
+<Value index="0" val="Auto"></Value>
</Property>
<Property name="ScalerMode" default="0" position="1" flags="7" size="1" formatString="%d" valType="1">
<Value index="0" val="Off"></Value>
@@ -2034,13 +2004,10 @@ EventSelector ExposureEnd
<Value index="0" val=""></Value>
</Property>
</PropList>
-<PropList name="ImageProcessingControl" default="0" position="3" flags="3" size="2" parent="none">
+<PropList name="ImageProcessingControl" default="0" position="3" flags="3" size="1" parent="none">
<Property name="ImageProcessingOptimization" default="0" position="0" flags="7" size="1" formatString="%d" valType="1">
<Value index="0" val="MinimizeMemoryUsage"></Value>
</Property>
-<Property name="ImageProcessingMode" default="0" position="1" flags="7" size="1" formatString="%d" valType="1">
-<Value index="0" val="ProcessLatestOnly"></Value>
-</Property>
</PropList>
<Property name="FeaturePollingEnable" default="0" position="6" flags="7" size="1" formatString="%d" valType="1">
<Value index="0" val="On"></Value>
diff --git a/params/F0300141_calib.yaml b/params/F0300141_calib.yaml
index a72f554bb92f159f709f2a6417f8952a01dee7b8..78d36d6720e500783cbf84887b7f017c994ef885 100644
--- a/params/F0300141_calib.yaml
+++ b/params/F0300141_calib.yaml
@@ -4,17 +4,17 @@ camera_name: camera
camera_matrix:
rows: 3
cols: 3
- data: [883.682266, 0, 683.433461, 0, 881.321367, 377.728018, 0, 0, 1]
+ data: [983.3368247116101, 0.0, 663.0390171499093, 0.0, 981.4430850536788, 396.26629958482715, 0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
- data: [-0.191329, 0.097859, 0.003095, -0.004325, 0.000000]
+ data: [-0.1107801575668356, 0.1031381384744468, -0.0020878830811691044, -0.002987672654714989, 0.0]
rectification_matrix:
rows: 3
cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+ data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
projection_matrix:
rows: 3
cols: 4
- data: [814.591980, 0, 678.046283, 0, 0, 832.671570, 371.066868, 0, 0, 0, 1, 0]
+ data: [958.0409545898438, 0.0, 656.8482799260782, 0.0, 0.0, 961.90283203125, 393.4869532290468, 0.0, 0.0, 0.0, 1.0, 0.0]
diff --git a/src/mvbluefox3_camera_driver.cpp b/src/mvbluefox3_camera_driver.cpp
index b79f8a2f6c145aae42bf2aae0fc9a38077af7281..903fb883e8dcf8e46542a2ce6ea5b249882850b1 100644
--- a/src/mvbluefox3_camera_driver.cpp
+++ b/src/mvbluefox3_camera_driver.cpp
@@ -302,9 +302,9 @@ void Mvbluefox3CameraDriver::GetROSImage(const int &ncam, sensor_msgs::Image &im
encoding = "8UC1";
switch (bp)
{
- case 1: encoding = "8UC1"; break;
+ case 1: encoding = "mono8"; break;
case 2: encoding = "8UC2"; break;
- case 3: encoding = "8UC3"; break;
+ case 3: encoding = "rgb8"; break;
case 4: encoding = "8UC4"; break;
default: ROS_WARN("Invalid depth. Depth not implemented here."); break;
}