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Flea3 USB3 camera and camera1394 package

asked 2013-10-14 03:06:11 -0500

Artem gravatar image

I have been working with Firewire cameras on my Mac using camera1394 package. Now I decided to switch to Point Grey Flea3 USB3 cameras. I remember a year ago I have read that these cameras support IIDC and that time I was able to capture images from these cameras using libdc1394 (without ROS). Now I am struggling running it with ROS camera1394 package. My questions,

(a) Did somebody use these cameras with libdc1394, without Flycapture (maybe in Linux, better in OSX)?

(b) I cannot find Flea3 GUID, that camera1394 requires. Do USB3 cameras have GUIDs?

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We are using Chameleon, has GUID and works, but that is USB2. I had to make an udev rule to add it to plugdev group.

liborw gravatar image liborw  ( 2013-10-16 00:05:20 -0500 )edit

Thanks for reply, I managed to make it run on OSX. There are still some things that I am not happy with, such as delay. Will test everything then write the answer.

Artem gravatar image Artem  ( 2013-10-16 00:12:08 -0500 )edit

I also got a Chameleon Point Gray camera to work in OS X via libdc1394. The problem is that I can't figure out how to set the camera mode for it to give me color in OpenCV.

ubuntuslave gravatar image ubuntuslave  ( 2015-11-11 17:49:09 -0500 )edit

3 Answers

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answered 2013-10-16 05:32:05 -0500

Artem gravatar image

updated 2013-10-16 05:34:32 -0500

The solution was to rebuild libdc1394 library. Here is what I did,

1) downloaded latest version of the library, libdc1394-2.2.

2) added vendors and products codes to usb_products[] that is defined in libdc1394-2.2/dc1394/usb/control.c For flea 3, I added these two lines { 0x1e10, 0x3000 }, { 0X1e10, 0x3006 }, Finally the structure looks as follows

/* This is the list of USB vendor/products that we know support
 * IIDC-over-USB.  Currently, this is the only mechanism of detecting
 * such cameras. */
static struct _vendor_product_t {
    uint16_t vendor;
    uint16_t product;
} usb_products[] = {
    { 0x1e10, 0x2000 }, // Point Grey Firefly MV Color
    { 0x1e10, 0x2001 }, // Point Grey Firefly MV Mono
    { 0x1e10, 0x2002 }, // Point Grey High Res Firefly MV Color
    { 0x1e10, 0x2003 }, // Point Grey High Res Firefly MV Mono
    { 0x1e10, 0x2004 }, // Point Grey Chameleon Color
    { 0x1e10, 0x2005 }, // Point Grey Chameleon Mono
    { 0x1e10, 0x3000 }, // Point Grey Flea 3
    { 0X1e10, 0x3006 }, // Point Grey Flea 3 Color
    { 0, 0 },

3) Rebuild libdc

4) Build and run the following code that will allow you to get GUID. Later this GUID should be put to camera yaml file to run camera1394.

#include <stdio.h>
#include <stdint.h>
#include <dc1394/dc1394.h>
#include <stdlib.h>
#include <inttypes.h>

int main(int argc, char *argv[])
    FILE* imagefile;
    dc1394camera_t *camera;
    unsigned int width, height;
    dc1394video_frame_t *frame=NULL;
    //dc1394featureset_t features;
    dc1394_t * d;
    dc1394camera_list_t * list;
    dc1394error_t err;

    d = dc1394_new ();
    if (!d)
        return 1;
    err=dc1394_camera_enumerate (d, &list);
    DC1394_ERR_RTN(err,"Failed to enumerate cameras");

    if (list->num == 0) {
        dc1394_log_error("No cameras found");
        return 1;

    camera = dc1394_camera_new (d, list->ids[0].guid);
    if (!camera) {
        dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
        return 1;
    dc1394_camera_free_list (list);

    printf("Using camera with GUID %" PRIx64"\n", camera->guid);

   dc1394_video_set_transmission(camera, DC1394_OFF);
   dc1394_free (d);
   return 0;

It is useable now, although there are some issues with setting different modes and reducing the delay. I don't have these issues on a Windows virtual machine when I use FlyCapture.

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I built this code and followed this rebuilding of the library, but the library can't find my Flea3 camera. Do you have any ideas about this?

abettadapur gravatar image abettadapur  ( 2013-10-30 05:02:08 -0500 )edit

What camera you have and what system you are on? What is your cameras vendor and product numbers?

Artem gravatar image Artem  ( 2013-10-30 05:53:54 -0500 )edit

Ubuntu 12.04 Flea3 Color. Flycap can recognize the camera, but this script cannot. I'll get the vendor/product numbers in a sec

abettadapur gravatar image abettadapur  ( 2013-10-31 17:36:32 -0500 )edit

If your vendor number and product number is not listed in the structure in libdc1394-2.2/dc1394/usb/control.c you have to add it. Then you can also try to install coriander (sudo apt-get install coriander) and see if you can get access to the camera through it.

Artem gravatar image Artem  ( 2013-11-01 05:10:43 -0500 )edit

answered 2013-10-15 19:26:35 -0500

XIMEA gravatar image

You may check XIMEA cameras which explicitly supports OSX and Linu

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I've checked your link. The cameras look good, unfortunately we've had point grey cameras for about 2 years.

Artem gravatar image Artem  ( 2013-10-16 00:14:46 -0500 )edit

answered 2014-03-14 12:48:08 -0500

I also followed the instructions but neither my own code nor the small program provided to display the GUID worked. Then I added 5 additional lines to control.c, providing entries for device id numbers 0x3001 - 0x3005. After recompiling everything, the test program now reports GUID b09d0100ace819 and my own program reports "Flea3 FL3-U3-32S2M". I haven't done the testing to determine which of the 5 lines I added was the one I needed; they probably all correspond to a slightly different flavor of the camera.

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Asked: 2013-10-14 03:06:11 -0500

Seen: 2,427 times

Last updated: Mar 14 '14