Bumblebee2 (640x480) under Diamondback

edit

i have the bumblebee2 stereo camera working with the bumblebee2 node.

1. ubuntu 10.04
2. ros-diamondback-desktop-full
3. just the dependencies for the bumblebee2 node
4. bumblebee2(http://www.ros.org/browse/details.php?name=bumblebee2)
5. the first change i made is shown in this answer(http://answers.ros.org/question/1096/segmentation-fault-of-bumblebee2?answer=1891#1891). beside that i had to edit the file: "dev_camera1394.cpp" to use format_7 mode_3. to do this search the file for: "dc1394_video_set_mode" and replace: "videoMode_" with "DC1394_VIDEO_MODE_FORMAT7_3"

after that i had quite a bit of trouble with the image tearing. this was caused by my firewire port being unable to handle the trafic. to fix this i had to reduce the package size by adding the following lines:

if (DC1394_SUCCESS != dc1394_format7_set_packet_size(camera_,DC1394_VIDEO_MODE_FORMAT7_3,size)) { ROS_WARN("Failed to set package size"); DMA_Success = false; }

the package size you need to set can be found by running the node than reduce the package size using coriander(can be found in the controls tab)

if you dont need to get both the images from the bumblebee2 camera you only have to make the changes in the other ros answer.