BumbleBee
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How to work with the Bumblebee2 Stereo Camera on Linux
This page contains instructions on how to setup the Bumblebee2 stereo camera on Linux. It also contains examples on how to use the camera.
Note: This page is work-in-progress so you really shouldn't trust anything you read here.
Installation
This guide has been tested on Fedora Core 10. It might work on other platforms, but it has not been verified. We require that you have libdc1394 version 2.0.2 installed, including developer files. You should note that this guide is intended for administrators, and not users. If you just want to use the camera you do not need to go through these steps.
1. Install Triclops
The first step is to install Triclops, which is the propitiatory library developed by Point Grey. You'll need the Triclops3.2.0.8-FC3.tgz file which is distributed by Point Grey to do this (if you don't have this file, then you shouldn't be performing these steps). Uncompress this file by typing
tar -zxvf Triclops3.2.0.8-FC3.tgz
This will produce a directory called Triclops3.2.0.8-FC3. Now, perform the following steps as root:
PGR=/opt/point_grey mkdir $PGR cp -r Triclops3.2.0.8-FC3/doc Triclops3.2.0.8-FC3/include/ Triclops3.2.0.8-FC3/lib/ $PGR
Now, the files have been placed in a proper place. The next step is to create a .pc file such that pkg-config can find the new library. Now, create a directory called pkgconfig in the installation directory:
mkdir $PGR/pkgconfig
In this directory create a file called triclops3.2.pc with the following contents:
prefix=/opt/point_grey exec_prefix=${prefix} libdir=${prefix}/lib includedir=${prefix}/include Name: triclops3.2 Description: Triclops Library for Stereo Version: 3.2.0.8 Libs: -L${libdir} -lpgrlibdcstereo -ltriclops -lpnmutils Cflags: -I${includedir}
Now, you just need to update your environment such that it sees this new file. Add the following line
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/point_grey/pkgconfig
to the /etc/profile file (you can also add this to your ~/.bashrc or similar if that is more appropriate). Now, Triclops should be installed.
2. Install pgrlibdcstereo
The next step is to install pgrlibdcstereo which essentially is a wrapper library libdc1394 that makes it easier to work with the stereo camera. For this you'll need the stereo-examples-libdc-2.0.2.tar.gz file which is distributed by Point Grey (if you don't have access to this file, then you shouldn't be performing these steps). Uncompress this file
tar -zxvf stereo-examples-libdc-2.0.2.tar.gz
Then you'll need to edit the Makefile in the pgrlibdcstereo such that is has the following CPPFLAGS
TRICLOPS = triclops3.2 DC = libdc1394-2 # compilation flags CPPFLAGS += `pkg-config --cflags $(DC)` CPPFLAGS += `pkg-config --cflags $(TRICLOPS)` CPPFLAGS += -Wall -g CPPFLAGS += -DLINUX
Then change to this directory and compile the library:
cd pgrlibdcstereo make
Now install the library by running the following commands as root
cp libpgrlibdcstereo.a $PGR/lib cp *.h $PGR/include
Now, libpgrlibdcstereo should be installed.
3. Testing the Installation
With the file stereo-examples-libdc-2.0.2.tar.gz also comes some test programs. These are located in the simplegrab, simplestereo, and xb3stereo directories. To compile them edit the Makefile in each directory such that the flags are
TRICLOPS = triclops3.2 DC = libdc1394-2 # compilation flags CPPFLAGS += `pkg-config --cflags $(DC)` CPPFLAGS += `pkg-config --cflags $(TRICLOPS)` CPPFLAGS += -Wall -g CPPFLAGS += -DLINUX LDFLAGS += `pkg-config --libs $(DC)` LIBS += -pthread `pkg-config --libs $(TRICLOPS)`
Now you can compile the programs and run them.