cis_camera package from cis_camera repo

cis_camera

Package Summary

Tags No category tags.
Version 0.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/cis_camera.git
VCS Type git
VCS Version master
Last Updated 2019-12-25
Dev Status DEVELOPED
CI status
Released RELEASED
Package Tags No category tags.

Package Description

The cis_camera package

Additional Links

Maintainers

  • Tokyo Opensource Robotics Kyokai (TORK) Development Team

Authors

  • Yosuke Yamamoto

cis_camera Build Status

This package contains ROS driver nodes for CIS Corporation ToF Camera Sensor DCC-RGBD1 with USB 3.0 interface.

System Configurations

  • OS / ROS
    • Ubuntu 16.04 / ROS Kinetic
    • Ubuntu 18.04 / ROS Melodic
  • USB 3.0 Port
  • CIS ToF Camera Sensor DCC-RGBD1

CIS ToF Camera Sensor DCC-RGBD1

  • Camera system
    • Dimensions : H:50mm x W:55mm x D:35mm ( Protruding parts are not included )
    • Weight : 110 g
    • Frame rate : 30 fps
  • RGB camera
    • 1/3” CMOS image sensor
    • Global shutter operation
    • QVGA : 1280 x 960
    • M12 lens
  • Depth / IR camera
    • 1/4” CCD image sensor
    • VGA : 640 x 480
    • M12 lens
    • Output : Depth and IR images
    • Depth sensing type: ToF ( Time-of-Flight )
    • Depth range
      • mode 0 : 300 - 5000 mm
      • mode 1 : 150 - 700 mm
  • NIR light source
    • 2 Laser Diodes : 850nm / Class 1
  • USB output
    • USB 3.0 micro B
    • UVC interface
    • Images
      • RGB : YUV422 - 1920 × 960
      • IR : Gray 16bit - 640 × 480
      • Depth : Gray 16bit - 640 × 480
  • Power source
    • DC 12V, 3A

CIS ToF Camera

Quick Start

Installation

Installing ROS

Install "ROS Desktop Full" on Ubuntu PC.

Installation of cis_camera

$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/camera_ws/src
$ cd ~/camera_ws/src
$ catkin_init_workspace
$ git clone https://github.com/tork-a/cis_camera.git
$ cd ~/camera_ws
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin_make
$ source ~/camera_ws/devel/setup.bash

  • NOTE: Replase $ROS_DISTRO to the ROS distribution of your system, kinetic or melodic.

Device Permission Configuration

For the first time you start using CIS ToF camera, run set_udev_rules to set CIS ToF camera device permission configuration with entering sudo password in responce to program input.

$ source ~/camera_ws/devel/setup.bash
$ rosrun cis_camera set_udev_rules

  • NOTE : This process is needed only once after the installations on your Ubuntu PC.

Connecting Camera

  1. Connect the camera to the USB 3.0 port of your Ubuntu PC
  2. Connect the external power source to the camera and turn it on
  • NOTE : It takes about 4 seconds for the camera to start up normally after the external power is turned on.

Launching Software

PointCloud

To see the pointcloud with RViz.

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera pointcloud.launch

This file launches windows of RViz and rqt_reconfigure.

When you do not need to launch rqt_reconfigure, please set a launch option as below.

$ roslaunch cis_camera pointcloud.launch reconfigure:=false

RViz PointCloud.launch

Launch Options and Default Values of pointcloud.launch

  • rviz:=true
    • Launching RViz
  • reconfigure:=true
    • Launching Dynamic Reconfigure
  • camera:=camera
    • Name of cis_camera for ROS nodes and topics
  • num_worker_threads:=4
    • Number of threads
  • vendor:=0x2af2
    • Vendor ID of cis_camera
  • product:=0x1001
    • Product ID of cis_camera
  • pointcloud_rgb:=false
    • Projecting RGB colors on the pointcloud
  • flying_pixel_filter:=false
    • Applying flying pixel filter with PCL VoxelGrid and StatisticalOutlierRemoval filters

RGB PointCloud

Publishing Images Only

When you publish only Depth, IR and RGB images, launch tof.launch.

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera tof.launch

If you show the images, run rqt and open Plugins -> Visualization -> Image View.

$ source ~/camera_ws/devel/setup.bash
$ rqt

Dynamic Reconfigure

After you launched pointcloud.launch reconfigure:=false or tof.launch, you can also reconfigure Depth/IR configurations dynamically with launching rqt_reconfigure.

$ source ~/camera_ws/devel/setup.bash
$ rosrun rqt_reconfigure rqt_reconfigure

When you reconfigure Depth/IR camera distortion correction parameters, check ir_dist_reconfig to effect parameters ir_fx, ir_fy and so on.

To set back the parameters to config/camera_ir.yaml data, uncheck ir_dist_reconfig.

Frame Rate

When you want to know a frame rate of ROS topic, please run rostopic hz as below.

In the case of a topic /camera/depth/points,

$ source ~/camera_ws/devel/setup.bash
$ rostopic hz /camera/depth/points

To find out what topics exits,

$ source ~/camera_ws/devel/setup.bash
$ rostopic list

Point Clud Library (PCL) Sample program

Terminal 1

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera pointcloud.launch

Terminal 2

$ source ~/camera_ws/devel/setup.bash
$ rosrun cis_camera pcl_example

This PCL example code extracts a target object by filtering the point cloud, calculates the centroid of the extracted point cloud and publishes a TF on the centroid.

PCL Example

This example is based on "Building a Perception Pipleline" of ROS Industrial Training.

Quit Software

Enter Ctrl-C on the running terminal.

CHANGELOG

Changelog for package cis_camera

0.0.4 (2019-12-11)

  • Merge pull request #25 from tork-a/add-comments Add document and comments for document
  • add \'Trouble Shooting\' in index.rst
  • fix style 2 by yy
  • fix style
  • Merge branch \'add-comments\' of https://github.com/tork-a/cis_camera into add-comments
  • remove doc/manifest.yaml
  • Update index.rst
  • mod index.rst format
  • mod spec. list
  • remove \'Fig.\' for captions
  • update documant index.rst, add build process for making document pdf file.
  • update documents
  • mod maintainer as dev@TORK and add author informaiton, add files for documents.
  • remove doc/html/ folder
  • doc/html generated by rosdoc_lite
  • Merge branch \'master\' into add-comments
  • Merge pull request #24 from tork-a/fix-zero-depth-cnv-gain Fix zero depth cnv gain and add RGB camera info dynamic_reconfigure
  • add rgb camera info dynamic_reconfigure
  • fix depth_cnv_gain_ getting zero sometimes after the launch.
  • Merge pull request #23 from tork-a/add-frame-data-check mod num_worker_threads from 32 to 4, mod unexpected frame data size w...
  • mod num_worker_threads from 32 to 4, mod unexpected frame data size warning message.
  • Merge pull request #22 from tork-a/add-frame-data-check Add frame data check, mod RGB pointcloud with tf
  • add processing.launch.xml for RGB pointcloud with tf
  • remove old code lines those are commented out
  • add frame data size check to avoid memory segmentation error, add debug mode.
  • add comments for documents
  • Merge branch \'master\' of https://github.com/tork-a/cis_camera into mod-cmakelists
  • add tf_conversions in CMakeLists.txt
  • Contributors: Tokyo Opensource Robotics Developer 534, Yosuke Yamamoto

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/pointcloud.launch
      • debug [default: false]
      • rviz [default: true]
      • reconfigure [default: true]
      • camera [default: camera]
      • num_worker_threads [default: 4]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
      • pointcloud_rgb [default: false]
      • flying_pixel_filter [default: false]
  • launch/tof_nodelet.launch
      • camera [default: camera]
      • manager_name [default: manager]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
  • launch/pcl_pipeline_example.launch
  • launch/tof.launch
      • launch_prefix [default: ]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
  • launch/includes/processing.launch.xml
    • Load full set of processing nodelets for a RGBD device
      • manager
      • respawn [default: false]
      • rgb_processing [default: true]
      • debayer_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • sw_registered_processing [default: true]
      • hw_registered_processing [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • depth_registered_filtered [default: depth_registered]
      • projector [default: projector]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged cis_camera at answers.ros.org

cis_camera package from cis_camera repo

cis_camera

Package Summary

Tags No category tags.
Version 0.0.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/cis_camera.git
VCS Type git
VCS Version master
Last Updated 2019-12-25
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.

Package Description

The cis_camera package

Additional Links

Maintainers

  • Tokyo Opensource Robotics Kyokai (TORK) Development Team

Authors

  • Yosuke Yamamoto

cis_camera Build Status

This package contains ROS driver nodes for CIS Corporation ToF Camera Sensor DCC-RGBD1 with USB 3.0 interface.

System Configurations

  • OS / ROS
    • Ubuntu 16.04 / ROS Kinetic
    • Ubuntu 18.04 / ROS Melodic
  • USB 3.0 Port
  • CIS ToF Camera Sensor DCC-RGBD1

CIS ToF Camera Sensor DCC-RGBD1

  • Camera system
    • Dimensions : H:50mm x W:55mm x D:35mm ( Protruding parts are not included )
    • Weight : 110 g
    • Frame rate : 30 fps
  • RGB camera
    • 1/3” CMOS image sensor
    • Global shutter operation
    • QVGA : 1280 x 960
    • M12 lens
  • Depth / IR camera
    • 1/4” CCD image sensor
    • VGA : 640 x 480
    • M12 lens
    • Output : Depth and IR images
    • Depth sensing type: ToF ( Time-of-Flight )
    • Depth range
      • mode 0 : 300 - 5000 mm
      • mode 1 : 150 - 700 mm
  • NIR light source
    • 2 Laser Diodes : 850nm / Class 1
  • USB output
    • USB 3.0 micro B
    • UVC interface
    • Images
      • RGB : YUV422 - 1920 × 960
      • IR : Gray 16bit - 640 × 480
      • Depth : Gray 16bit - 640 × 480
  • Power source
    • DC 12V, 3A

CIS ToF Camera

Quick Start

Installation

Installing ROS

Install "ROS Desktop Full" on Ubuntu PC.

Installation of cis_camera

$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/camera_ws/src
$ cd ~/camera_ws/src
$ catkin_init_workspace
$ git clone https://github.com/tork-a/cis_camera.git
$ cd ~/camera_ws
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin_make
$ source ~/camera_ws/devel/setup.bash

  • NOTE: Replase $ROS_DISTRO to the ROS distribution of your system, kinetic or melodic.

Device Permission Configuration

For the first time you start using CIS ToF camera, run set_udev_rules to set CIS ToF camera device permission configuration with entering sudo password in responce to program input.

$ source ~/camera_ws/devel/setup.bash
$ rosrun cis_camera set_udev_rules

  • NOTE : This process is needed only once after the installations on your Ubuntu PC.

Connecting Camera

  1. Connect the camera to the USB 3.0 port of your Ubuntu PC
  2. Connect the external power source to the camera and turn it on
  • NOTE : It takes about 4 seconds for the camera to start up normally after the external power is turned on.

Launching Software

PointCloud

To see the pointcloud with RViz.

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera pointcloud.launch

This file launches windows of RViz and rqt_reconfigure.

When you do not need to launch rqt_reconfigure, please set a launch option as below.

$ roslaunch cis_camera pointcloud.launch reconfigure:=false

RViz PointCloud.launch

Launch Options and Default Values of pointcloud.launch

  • rviz:=true
    • Launching RViz
  • reconfigure:=true
    • Launching Dynamic Reconfigure
  • camera:=camera
    • Name of cis_camera for ROS nodes and topics
  • num_worker_threads:=4
    • Number of threads
  • vendor:=0x2af2
    • Vendor ID of cis_camera
  • product:=0x1001
    • Product ID of cis_camera
  • pointcloud_rgb:=false
    • Projecting RGB colors on the pointcloud
  • flying_pixel_filter:=false
    • Applying flying pixel filter with PCL VoxelGrid and StatisticalOutlierRemoval filters

RGB PointCloud

Publishing Images Only

When you publish only Depth, IR and RGB images, launch tof.launch.

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera tof.launch

If you show the images, run rqt and open Plugins -> Visualization -> Image View.

$ source ~/camera_ws/devel/setup.bash
$ rqt

Dynamic Reconfigure

After you launched pointcloud.launch reconfigure:=false or tof.launch, you can also reconfigure Depth/IR configurations dynamically with launching rqt_reconfigure.

$ source ~/camera_ws/devel/setup.bash
$ rosrun rqt_reconfigure rqt_reconfigure

When you reconfigure Depth/IR camera distortion correction parameters, check ir_dist_reconfig to effect parameters ir_fx, ir_fy and so on.

To set back the parameters to config/camera_ir.yaml data, uncheck ir_dist_reconfig.

Frame Rate

When you want to know a frame rate of ROS topic, please run rostopic hz as below.

In the case of a topic /camera/depth/points,

$ source ~/camera_ws/devel/setup.bash
$ rostopic hz /camera/depth/points

To find out what topics exits,

$ source ~/camera_ws/devel/setup.bash
$ rostopic list

Point Clud Library (PCL) Sample program

Terminal 1

$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera pointcloud.launch

Terminal 2

$ source ~/camera_ws/devel/setup.bash
$ rosrun cis_camera pcl_example

This PCL example code extracts a target object by filtering the point cloud, calculates the centroid of the extracted point cloud and publishes a TF on the centroid.

PCL Example

This example is based on "Building a Perception Pipleline" of ROS Industrial Training.

Quit Software

Enter Ctrl-C on the running terminal.

CHANGELOG

Changelog for package cis_camera

0.0.4 (2019-12-11)

  • Merge pull request #25 from tork-a/add-comments Add document and comments for document
  • add \'Trouble Shooting\' in index.rst
  • fix style 2 by yy
  • fix style
  • Merge branch \'add-comments\' of https://github.com/tork-a/cis_camera into add-comments
  • remove doc/manifest.yaml
  • Update index.rst
  • mod index.rst format
  • mod spec. list
  • remove \'Fig.\' for captions
  • update documant index.rst, add build process for making document pdf file.
  • update documents
  • mod maintainer as dev@TORK and add author informaiton, add files for documents.
  • remove doc/html/ folder
  • doc/html generated by rosdoc_lite
  • Merge branch \'master\' into add-comments
  • Merge pull request #24 from tork-a/fix-zero-depth-cnv-gain Fix zero depth cnv gain and add RGB camera info dynamic_reconfigure
  • add rgb camera info dynamic_reconfigure
  • fix depth_cnv_gain_ getting zero sometimes after the launch.
  • Merge pull request #23 from tork-a/add-frame-data-check mod num_worker_threads from 32 to 4, mod unexpected frame data size w...
  • mod num_worker_threads from 32 to 4, mod unexpected frame data size warning message.
  • Merge pull request #22 from tork-a/add-frame-data-check Add frame data check, mod RGB pointcloud with tf
  • add processing.launch.xml for RGB pointcloud with tf
  • remove old code lines those are commented out
  • add frame data size check to avoid memory segmentation error, add debug mode.
  • add comments for documents
  • Merge branch \'master\' of https://github.com/tork-a/cis_camera into mod-cmakelists
  • add tf_conversions in CMakeLists.txt
  • Contributors: Tokyo Opensource Robotics Developer 534, Yosuke Yamamoto

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/pointcloud.launch
      • debug [default: false]
      • rviz [default: true]
      • reconfigure [default: true]
      • camera [default: camera]
      • num_worker_threads [default: 4]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
      • pointcloud_rgb [default: false]
      • flying_pixel_filter [default: false]
  • launch/tof_nodelet.launch
      • camera [default: camera]
      • manager_name [default: manager]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
  • launch/pcl_pipeline_example.launch
  • launch/tof.launch
      • launch_prefix [default: ]
      • vendor [default: 0x2af2]
      • product [default: 0x1001]
      • depth_range [default: 0]
      • threshold [default: 0]
      • nr_filter [default: 1]
      • pulse_count [default: 2000]
      • ld_enable [default: 3]
      • ir_gain [default: 256]
      • ae_mode [default: 3]
      • brightness_gain [default: 1.0]
      • exposure_time [default: 0.01]
      • color_correction [default: 1]
      • r_gain [default: 1.0]
      • g_gain [default: 1.0]
      • b_gain [default: 1.0]
      • temp_time [default: 1.0]
  • launch/includes/processing.launch.xml
    • Load full set of processing nodelets for a RGBD device
      • manager
      • respawn [default: false]
      • rgb_processing [default: true]
      • debayer_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • sw_registered_processing [default: true]
      • hw_registered_processing [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • depth_registered_filtered [default: depth_registered]
      • projector [default: projector]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged cis_camera at answers.ros.org