k88joshi
commented
5 years ago Were you able to figure out a solution to this problem? I beleive that whenever I cover the camera the framerate goes down. Even when I set the exposure time and shutter speed to a constant I can not get it to run at the triggering speed. However, when I put it in free run mode it runs fine under any condition.
I have a similar problem with the following launch file.
<group ns="$(arg camera0_name)">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" />
<node pkg="nodelet" type="nodelet" name="camera_nodelet"
args="load pointgrey_camera_driver/PointGreyCameraNodelet camera_nodelet_manager" >
<param name="frame_id" value="$(arg camera0_name)" />
<param name="serial" value="$(arg camera0_serial)" />
<!-- When unspecified, the driver will use the default framerate as given by the
camera itself. Use this parameter to override that value for cameras capable of
other framerates. -->
<param name="frame_rate" value="40" />
<param name="format7_color_coding" value="Mono8" />
<param name="enable_trigger" value="True"/>
<param name="trigger_source" value="gpio0"/>
<param name="trigger_mode" value="mode0"/>
<!--<param name="trigger_polarity" value="1"/>-->
<!-- <param name="auto_exposure" value="False" />
<param name="exposure" value="1.35" />
<param name="auto_shutter" value="False" />
<param name="shutter_speed" value="0.025" />
<param name="auto_gain" value="False" /> -->
</node>
<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
args="load image_proc/debayer camera_nodelet_manager">
</node>
</group>
Please advise.
We are trying to trigger the CM3-U3-13S2C-CS camera at 30Hz (which is it's limit) but when triggering the camera at 30 Hz, it ends up taking only every other pulse, resulting in a speed of about 15Hz. With an external trigger, the camera only runs up to 27 Hz and above that runs at half speed.
The command we are using is:
rosrun pointgrey_camera_driver camera_node _enable_trigger:=true
How can we trigger the camera at 30Hz?