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Signed-off-by: NilaySener <nilay@leodrive.ai>
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# CAMERAs

## **FLIR Machine Vision Cameras**
## **TIER IV Automotive HDR Cameras**

[TIER IV's Automotive HDR cameras](https://sensor.tier4.jp/automotive-camera) which have ROS 2 driver and tested by TIER IV are listed below:

![images/camera-flir.png](images/camera-flir.png)
| Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger <br> /Synchronization | Ingress <br> Protection | ROS 2 Driver | Autoware <br> Tested (Y/N) |
| -------------------------------- | --- | --- | ----------------- | ------------- | --- | ----------------------------- | ----------------------- | ------------ | -------------------------- |
| C1 | 2.5 | 30 | GMSL2 <br> / USB3 | Y <br>(120dB) | Y | Y | IP69K | Y | Y |
| C2 | 5.4 | 30 | GMSL2 <br> / USB3 | Y <br>(120dB) | Y | Y | IP69K | Y | Y |
| C3 <br> (to be released in 2024) | 8.3 | 30 | GMSL2 <br> / TBD | Y <br>(120dB) | Y | Y | IP69K | Y | Y |

Link to ROS 2 driver:
[https://github.com/tier4/ros2_v4l2_camera](https://github.com/tier4/ros2_v4l2_camera)

Link to product support site:
[TIER IV Edge.Auto documentation](https://tier4.github.io/edge-auto-docs/index.html)

Link to product web site:
[TIER IV Automotive Camera Solution](https://sensor.tier4.jp/automotive-camera)

## **FLIR Machine Vision Cameras**

FLIR Machine Vision cameras which has ROS 2 driver and tested by one or more community members are listed below:

| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | ------------ | ---------- | --------- | ------------- | ------ | ------------ | --------------------- |
| Blackfly S | 2.0 <br> 5.0 | 22 <br> 95 | USB-GigE | 1” - ⅔” | C & CS | Y | - |
| Grasshopper3 | 2.3 <br> 5.0 | 26 <br> 90 | USB-GigE | 1” - ⅔” | C & CS | Y | - |
| Flea3 | 1.3 | 60 | USB | 1/1.8” | C | Y | - |
| Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger <br> /Synchronization | Ingress <br> Protection | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | ------------ | ---------- | --------- | --- | --- | ----------------------------- | ----------------------- | ------------ | --------------------- |
| Blackfly S | 2.0 <br> 5.0 | 22 <br> 95 | USB-GigE | N/A | N/A | Y | N/A | Y | - |
| Grasshopper3 | 2.3 <br> 5.0 | 26 <br> 90 | USB-GigE | N/A | N/A | Y | N/A | Y | - |

Link to ROS 2 driver:
[https://github.com/berndpfrommer/flir_spinnaker_ros2](https://github.com/berndpfrommer/flir_spinnaker_ros2)
Expand All @@ -20,67 +36,28 @@ Link to company website:

## **Lucid Vision Cameras**

![images/camera-lucid_vision.png](images/camera-lucid_vision.png)

Lucid Vision cameras which has ROS 2 driver and tested by one or more community members are listed below:

| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- |
| TRITON 054S | 5.4 | 22 | GigE | 1/1.55” | C Mount | Y | Y |
| TRITON 032S | 3.2 | 35.4 | GigE | 1/1.8” | C Mount | Y | Y |
| TRITON 050S | 5.0 | 22 | GigE | 2/3” | C Mount | Y | - |
| Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger <br> /Synchronization | Ingress <br> Protection | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | ---- | --------- | --- | --- | ----------------------------- | ----------------------- | ------------ | --------------------- |
| TRITON 054S | 5.4 | 22 | GigE | Y | Y | Y | up to IP67 | Y | Y |
| TRITON 032S | 3.2 | 35.4 | GigE | N/A | N/A | Y | up to IP67 | Y | Y |

Link to ROS 2 driver:
[https://gitlab.com/leo-drive/Drivers/arena_camera](https://gitlab.com/leo-drive/Drivers/arena_camera)

[https://gitlab.com/leo-drive/Drivers/arena_camera](https://gitlab.com/leo-drive/Drivers/arena_camera)
Link to company website:
[https://thinklucid.com/triton-gige-machine-vision/](https://thinklucid.com/triton-gige-machine-vision/)

## **Allied Vision Cameras**

![images/camera-allied_vision.png](images/camera-allied_vision.png)

Allied Vision cameras which has ROS 2 driver and tested by one or more community members are listed below:

| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- |
| Mako G319 | 3.2 | 37.6 | GigE | 1/1.8” | C Mount | Y | - |
| Supported Products List | MP | FPS | Interface | HDR | LFM | Trigger <br> /Synchronization | Ingress <br> Protection | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | ---- | --------- | --- | --- | ----------------------------- | ----------------------- | ------------ | --------------------- |
| Mako G319 | 3.2 | 37.6 | GigE | N/A | N/A | Y | N/A | Y | - |

Link to ROS 2 driver:
[https://github.com/neil-rti/avt_vimba_camera](https://github.com/neil-rti/avt_vimba_camera)

Link to company website:
[https://www.alliedvision.com/en/products/camera-series/mako-g](https://www.alliedvision.com/en/products/camera-series/mako-g)

## **TIER IV Cameras**

![images/camera-tieriv.png](images/camera-tieriv.png)

TIER IV cameras which has ROS 2 driver and tested by one or more community members are listed below:

| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | --- | --------- | ------------- | ---------------------------------------------------- | ------------ | --------------------- |
| C1 | 2.5 | 30 | GMSL2 | 1/2.57” | 5-axis active adjustment<br/> with adhesive dispense | Y | Y |
| C2 | 5.4 | 30 | GMSL2 | - | 5-axis active adjustment<br/> with adhesive dispense | - | - |

Link to driver:
[https://github.com/tier4/tier4_automotive_hdr_camera](https://github.com/tier4/tier4_automotive_hdr_camera)

Link to company website:
[https://sensor.tier4.jp/automotive-camera](https://sensor.tier4.jp/automotive-camera)

## **Neousys Technology Camera**

![images/camera-neousys.png](images/camera-neousys.png)

Neousys Technology cameras which has ROS 2 driver and tested by one or more community members are listed below:

| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) |
| ----------------------- | --- | --- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | ----------------------------------------------- | ------------ | --------------------- |
| AC-IMX390 | 2.0 | 30 | GMSL2 <br/> (over [PCIe-GL26 Grabber Card](https://www.neousys-tech.com/en/product/product-lines/in-vehicle-computing/vehicle-expansion-card/pcie-gl26-gmsl-frame-grabber-card)) | 1/2.7” | 5-axis active adjustment with adhesive dispense | Y | Y |

Link to ROS 2 driver:
[https://github.com/ros-drivers/gscam](https://github.com/ros-drivers/gscam)

Link to company website:
[https://www.neousys-tech.com/en/](https://www.neousys-tech.com/en/)
[https://www.alliedvision.com/en/products/camera-series/mako-g](https://www.alliedvision.com/en/products/camera-series/mako-g)

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