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Package Summary

Tags No category tags.
Version 0.6.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version indigo_dev
Last Updated 2018-11-29
Dev Status DEVELOPED
Released RELEASED

Package Description

For more information read the readme.htm file located in

Additional Links

Maintainers

  • Richard Bormann

Authors

  • Jan Fischer
  • Richard Bormann
<h1>HowTo - cob_camera_sensors</h1>
<p>
The <i>cob_camera_sensors</i> package is a collection of ROS compatible drivers for the cameras installed on Care-O-bot<sup>&#0174;</sup> 3. These include two AVT Pike C145 color cameras and one Swissranger 4000 time-of-flight sensor from Mesa Imaging. Both camera type are support for Windows and Linux. To enable Windows compatibility, remove all <code>-D__LINUX__</code> flags from <i>CMakeLists.txt</i> located at <i>cob_driver/cob_camera_sensors</i>. Lately, two Prosilica GC1380CH color cameras have been installed on one of the Care-O-bot<sup>&#0174;</sup>s, which are natively supported by ROS with the <i>prosilica_camera</i> package. The <i>prosilica_camera</i> binaries are executed within the related launch files.
<i>cob_camera_sensors</i>
</p>
<p>
Setting the camera parameters is different from the suggested ROS standard. Instead of setting all parameters within the ROS launch file, camera specific parameters are set within IPA specific configurations. This originates from IPA internal requirements to maintain backward compatibility to existing components. The ROS launch file only holds parameters related to the camera setup (e.g. 2 Pikes and 1 Swissranger) and a link to the IPA internal configuration file.
</p>
<h2>IPA configuration files</h2>
<p>
The IPA configuration file is located at <i>cob_driver/cob_camera_sensors/common/files</i> in a folder related to your sensor setup e.g. <i>cob3-1</i> or <i>cob3-2</i>. The configuration is XML-based. It holds one XML-tag for each camera e.g. <code>&lt;AVTPikeCam_0&gt;</code> for a AVT Pike C145 camera. The number within the tag-name is used to differentiate several camera of the same type. Here is an excerpt from the IPA configuration file of one of our Care-O-bot<sup>&#0174;</sup>s.
</p>
<code>
&lt;!-- Camera sensors initialization file --&gt;<br>
&lt;LibCameraSensors&gt;<br><br>
&lt;!-- Color sensors --&gt;<br>
&lt;AVTPikeCam_0&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Holds the 64-Bit GUID of a connected node --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- A GUID consists of a 32-Bit high part that holds the Vendor ID (Highest 24 Bits) --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- and the Chip ID (8 Bits) and a 32-Bit low part that holds the lower bits of the Chip ID. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The GUID is unique for all FireWire devices on the world. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;GUID high="000A4701" low="10077026" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The master initializes and releases the camera library and is --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- respnsible for emitting the trigger signal to other cameras --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The slave is synchronizing its image acquisition with the trigger signal --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid roles: MASTER oR SLAVE --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;Role value="MASTER" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: appropriate framerte or AUTO and DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;FrameRate fps="3" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: FORMAT_0, FORMAT_1, FORMAT_2 ,FORMAT_7, DEFAULT--&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoFormat type="FORMAT_7" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: MODE_0 - MODE_7, DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoMode type="MODE_0" /&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ...<br>

&lt;AVTPikeCam_0/&gt;
</code>
<p>
Each tag within the IPA configuration file has a short explanation of its functionality. Please feel free to examine one of the Care-O-bot<sup>&#0174;</sup> configuration files to get an impression of the possible settings.
</p>
Camera intrinsics may be set for each camera with the designated tags. The information is later published with the images using the ROS <code>CameraPublisher</code> from the <code>image_transport</code> package. The user has the possibility of specifying different intrinsic. This is related to stereo vision, where intrinsics are optimize to fit to another camera. If not other specified in the ROS launch file, intrinsic parameters not related to any other camera are published. Extrinsic specify the rotation and translation relative to another camera. These parameters are not yet published and for IPA internal usage only.
<p>
For each camera their is also a related <code>&lt;VirtualXXXCam_X&gt;</code> tag. The also is related to backward compatibility issues and not used within ROS. Originally, it provided support for loading saved image data from disk and using it as if it came from a real camera device. However, ROS already provides more sophisticated means to record and play back data using <i>rosrecord</i>, <i>rosplay</i> and <i>bag files</i>.
</p>
<h2>ROS launch files</h2>
<p>
ROS launch files are used are located in <i>cob_driver/cob_camera_sensors/ros/launch</i> and hold information about the overall sensor setup not related to a specific camera. There is a launch file to start each camera independently and a launch file to start all Care-O-bot<sup>&#0174;</sup> cameras at once. Each launch file specifies the location of the related IPA configuration file and the used color camera or time-of-flight camera type. The following camera types are supported:
<ul><code>CAM_SWISSRANGER</code> - For Mesa Swissranger 3000/4000 time-of-flight camera</ul>
<ul><code>CAM_AVTPIKE</code> - For AVT Pike 145C color camera</ul>
The Prosilica GC1380CH color camera is supported through the ROS <i>prosilica_camera</i> package. To get more information, have a look at their tutorial. The camera specific launch files have an additional parameter specifying the camera's ID which is related to the number within the tag-name in the IPA configuration file e.g. <code>&lt;AVTPikeCam_<b>0</b>&gt;</code>.
</p>
<p>
Knowing the fundamentals, we are now ready to start up the cameras.
</p>

<h2>AVT Pike C145</h2>

<p>
To run the AVT Pike C145 cameras from Care-O-bot<sup>&#0174;</sup> 3 you must first ensure a proper setup of the camera hardware. At first ensure that the cameras are recognized by your Linux system, executing <i>dmesg</i>. When you now unplug and plugin the firewire cable you shod see some differences in the output, when repeatedly executing the <i>dmesg</i> command. On my pc the dmesg output is after plugging in the cameras is as follows:
</p>
<code>
$ dmesg | grep 1394<br><br>

[    1.298395] ohci1394 0000:04:03.0: PCI INT A -> GSI 19 (level, low) -> IRQ 19<br>
[    1.358234] ohci1394: fw-host0: OHCI-1394 1.0 (PCI): IRQ=[19]  MMIO=[90300000-903007ff]  Max Packet=[2048]  IR/IT contexts=[8/8]<br>
[    2.644206] ieee1394: Host added: ID:BUS[0-00:1023]  GUID[002332fffe19d87a]<br>
[  159.528932] ieee1394: Node changed: 0-00:1023 -> 0-01:1023<br>
[  160.418182] ieee1394: Node added: ID:BUS[0-00:1023]  GUID[000a470110077026]<br>
[  160.424805] ieee1394: Node added: ID:BUS[0-01:1023]  GUID[000a470110073080]<br>
[  160.424912] ieee1394: Node changed: 0-01:1023 -> 0-03:1023<br>
[  160.438307] video1394: Installed video1394 module<br>
[  160.453156] ieee1394: raw1394: /dev/raw1394 device initialized<br>
</code>
<p>
 If not, make sure the green LEDs of the camera are on and you properly connected the camera to your PC. Additionally you may check with <i>lsmod | grep 1394</i> that all necessary firewire modules have been loaded. To make sure that you installed all necessary drivers on your system you may also want to install <i>coriander</i> with all its dependencies. <i>Coriander</i> is a handy tool to access all kind of ieee1394 firewire cameras and play with their settings.
</p>
<p>
Once the camera is recognized by the system, you must create udev rules to get access right to the ieee1394 devices located at <i>/dev/raw1394</i> and <i>/dev/video1394</i>. Therefore create a file called <i>01-ieee1394.rules</i> in <i>/etc/udev/rules.d/</i> with the following content
</p>
<code>
#firewire camera devices<br>
KERNEL=="raw1394*",GROUP="plugdev",MODE="0664"<br>
KERNEL=="video1394*",GROUP="plugdev",MODE="0664"
</code>
<p>
Check if the Linux groups <i>plugdev</i> and <i>video</i> exist and if not create them. Then, add your Linux user these groups and restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). To test your cameras, run <i>coriander</i>. If it does not start up, there are still some issues to be solved before proceeding. Check if your user's group settings and the settings of the firewire device files at <i>/dev/raw1394</i> and <i>/dev/video1394</i> coincide. Once coriander is running, we are ready to launch the ROS nodes of the cameras, explained here on the example of Care-O-bot<sup>&#0174;</sup> 3 number 1.
<ol>
    <li>Install dependencies (<code>rosdep install cob_camera_sensors</code>) and build <i>cob_camera_sensors</i> (<code>rosmake cob_camera_sensors</code>) </li>
    <li>Launch the left IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_left.launch</code> </li>
    <li>Launch the right IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_right.launch</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the left color camera with <code>rosrun image_view image_view image:=/camera/left/color_image</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the right color camera with <code>rosrun image_view image_view image:=/camera/right/color_image</code> </li>
</ol>
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and swissranger nodes you will have the following topic available.
<ul>/pike_145C/left/camera_info</ul>
<ul>/pike_145C/left/image_color</ul>
<ul>/pike_145C/left/image_color/compressed</ul>
<ul>/pike_145C/left/image_color/theora</ul>
<ul>/pike_145C/right/camera_info</ul>
<ul>/pike_145C/right/image_color</ul>
<ul>/pike_145C/right/image_color/compressed</ul>
<ul>/pike_145C/right/image_color/theora</ul>

The color camera implements the <i>polled_camera</i> camera interface from ROS. Within the launch files a poller is started to continuously request images from the color cameras and publish them on a topic.
</p>
<h2>Swissranger</h2>
<p>
Both Swissranger versions 3000 and 4000 are supported. To run a Swissranger time-of-flight camera install the Linux drivers from www.mesa-imaging.ch. The ROS drivers have been tested with <i> libmesasr-dev-1.0.14-620.i386.deb</i>. Make sure there is a udev rule located for the Swissranger camera in <i>/etc/udev/rules.d/</i> after installing the driver. Depending on the specified group within the udev rule (usually <i>usb</i>), add your Linux user to this group. Restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). Now you are set up to use the Swissranger with the ROS drivers from <i>cob_camera_sensors</i>, here at the example of Care-O-bot<sup>&#0174;</sup> number 1:
<ol>
    <li>Launch the Swissranger camera with <code>roslaunch cob_camera_sensors cob3-1_tof.launch</code></li>
    <li>Launch the Tof image viewer with <code>roslaunch cob_camera_sensors tof_camera_viewer.launch</code></li>
</ol>
If your camera is connected via ethernet, skip the udev rules and enter the appropriate ethernet address in the IPA configuration file.
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and Swissranger nodes you will have the following topic available.
<ul>/sr4000/camera_info</ul>
<ul>/sr4000/image_grey</ul>
<ul>/sr4000/image_grey/compressed</ul>
<ul>/sr4000/image_grey/theora</ul>
<ul>/sr4000/image_xyz</ul>
<ul>/sr4000/image_xyz/compressed</ul>
<ul>/sr4000/image_xyz/theora</ul>
</p>


CHANGELOG

Changelog for package cob_camera_sensors

0.6.12 (2018-07-21)

0.6.11 (2018-01-07)

  • Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
  • Merge pull request #341 from ipa-fxm/APACHE_license use license apache 2.0
  • use license apache 2.0
  • Merge branch 'indigo_dev' of github.com:ipa320/cob_driver into feature/mimic_sim
  • Merge pull request #351 from mikaelarguedas/add_tinyxml_dependency add tinyxml to package.xml
  • add tinyxml to package.xml
  • Merge pull request #349 from ipa320/ipa-rmb-patch-1 Changed Maintainer
  • Changed Maintainer
  • Contributors: Benjamin Maidel, Felix Messmer, Mikael Arguedas, Richard Bormann, ipa-fxm, ipa-uhr-mk

0.6.10 (2017-07-24)

0.6.9 (2017-07-18)

  • manually fix changelog
  • Contributors: ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

0.6.5 (2015-08-31)

0.6.4 (2015-08-25)

  • boost revision
  • explicit dependency to boost
  • more cleanup
  • remove obsolete autogenerated mainpage.dox files
  • remove trailing whitespaces
  • migrate to package format 2
  • sort dependencies
  • critically review dependencies
  • Contributors: ipa-fxm

0.6.3 (2015-06-17)

0.6.2 (2014-12-15)

0.6.1 (2014-09-17)

0.6.0 (2014-09-09)

0.5.7 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • 0.5.6
  • update changelog
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • Contributors: Alexander Bubeck, Florian Weisshardt

0.5.6 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • Contributors: Alexander Bubeck, Florian Weisshardt

0.5.3 (2014-03-31)

  • removed obsolete files
  • install tags
  • Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

  • cob_camera_sensors: add missing dependency to message_generation/message_runtime
  • cleaned up CMakeLists and added install directives
  • compiling but still some linker errors
  • get frame id
  • Second catkinization push
  • First catkinization, still need to update some CMakeLists.txt
  • fixed namespace, removed obsolete lines from manifest
  • removed throttle node to perception common
  • moved to cob_cam3d_throttle in cob_perception_common
  • set queue size to 1
  • remove launch file from driver stack
  • added additional topics, added launch file for testing
  • Merge branch 'master' of github.com:ipa320/cob_driver
  • add subscription management
  • fixed nodelet name
  • add nodelet plugin file
  • added cam3d throttle
  • remove deprecated deps of cob_camera_sensors
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • removed deprecated debs
  • Merge branch 'release_fuerte'
  • fuerte rosdep migration
  • changes for fuerte compatibility
  • fix lib directory
  • removed deprecated launch files
  • using tinyxml from system dependency
  • merge
  • using kinect driver without nodelet
  • small changes
  • Merge branch 'master' of github.com:ipa-fmw/cob_driver
  • add voxelgrid filter
  • set frrequency of cameras to 10
  • deactivate test for cam3d
  • using env ROBOT
  • small changes
  • fix test for camera_sensors
  • merge with 320
  • merge
  • Removed kinect stuff. To be replaced by rmb version
  • added dummy depth calibration to kinect driver
  • adapted cob_camera_sensors to new kinect driver in electric
  • camera_sensors test
  • fixed includes
  • added rostest
  • Updated camera calibration for cob3-3
  • PCH LINUX
  • PCH
  • PCH
  • StdAFx
  • merge
  • Merge branch 'review-rmb'
  • moved vision message and service files
  • moved services to camera_sensors
  • merge
  • changed topic names
  • enlarged wait_time
  • added wait time for hztest_camera_left
  • added wait_time
  • adapted test files
  • switched master/slave settings for cob3-2 since they are mounted the other way around
  • updated timestamp in flipped images from kinect (because of rosbag play problem)
  • changed the topic names again to the last change before they were overwritten by fmw
  • sensor fusion finally working
  • merg
  • merge
  • adjust camera parameter
  • image flip
  • uplaod param file
  • merge
  • new calibration for kinect
  • higher resolution for cob3-1 cameras
  • now saves the transxformation to head_axis_link
  • calib script for cob3-3
  • adapted tof test parameters
  • test configuration
  • changed test topic of tof
  • changed frame names
  • corrected the swissranger topics to the unified naming scheme
  • merge
  • more comments added to yaml generator script
  • added Matlab script for generating yaml files
  • correct camera startup order in all_cameras.launch
  • added new camera properties to the driver and config files (auto exposure maximal duration)
  • new auto exposure settings in yaml file
  • renamed all_cameras.launch in demo-cell folder
  • new link names for kinect sensors
  • new links for kinect
  • new link names for the prosilica cameras
  • renamed the camera sensors launch files
  • renamed topics for people detection
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • added camera parameter paket_size
  • configuration files now correct
  • fixed position of rosparam in launch file
  • added trigger_mode parameter to yaml files and corrected their values
  • added settings for cob3-3 prosilica cameras
  • merge
  • cob_camera_sensor's launch files reorganized. almost done.
  • kinect flip outputting image head over reverted (no bug, was already correct)
  • kinect flip outputting image head over fixed
  • merge
  • prosilica can load intrinsic parameters from calibration automatically in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • added script for loading camera parameters
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • rearranging cob_camera_sensors launch files
  • reorganizing launch files in cob_camera_sensors
  • rearranging cob_camera_sensors launch files
  • cam3d for cob3-1
  • rearranging cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • kinect and prosilica calibration added for cob3-3
  • camera and kinect calibration
  • Merge branch 'review-320'
  • Merge branch 'review-goa-aa'
  • added missing nodelet_plugins.xml file for kinect flip
  • camera image flip with respect to camera pose on head finished and tested
  • added a nodelet for rotating the kinect image when the robots watches backwards
  • added test for full_cloud2
  • Merged Pointer for PMDCamCube and PMDCamBoard to PMDCam
  • Merge branch 'review-320'
  • undid last changes
  • fixed typo
  • testing other parameters
  • Added encoding ro image message
  • bugfix in VirtualRangeCam
  • updates for cob_classifier_training
  • updates because of cameraDataViewer adaptation to kinect
  • updates because of cameraDataViewer adaptation to kinect
  • Added CamBoard to AbstractRangeImagingSensor.h
  • changed test duration to 10s
  • added camera calibration files from matlab calibration
  • camera settings added for head
  • undo previous merge + commits
  • merge with review-sven
  • removed kinect form all cameras
  • added kinect to all_cameras.launch
  • added kinect to all_cameras.launch
  • typo fixed
  • modified parameters
  • rostest file for tof camera
  • deleted rostest file integration
  • included rostest file
  • included rostest file
  • included rostest
  • included rostest file
  • cameras working and calibrated
  • renamed camera topics
  • Git adaptions
  • def LINUX
  • fixed libusb bug
  • change back to cturtle
  • merge
  • merge
  • starting kinect with cob_bringup
  • removed mesa swissranger form the cob_bringup
  • added dependency to prosilica driver
  • fixed topics for camera test
  • added camera tests
  • now compatible to diamondback, does not compile anynmore with cturtle
  • chenged manifest
  • uncommented line
  • made cameras working
  • node for undistorting tof data
  • removed libmesa in rosdep.yaml
  • changed tof defaults
  • set fps to 15
  • cleanup in cob_driver
  • launch file for all cameras with ros driver
  • ros driver now working, add calibration data
  • calibration files for cameras
  • changes related to dc1394 ros driver
  • added launch file for left camera, modified parameters
  • launch file for camera1394
  • ros/src/all_camera_viewer.cpp some changes
  • bugfix
  • bugfix
  • JSF: Bugfix
  • JSF: Bugfixes
  • JSF: Added filtering for calibrating with noisy tof greyscale images
  • disabled sw trigger
  • adapted topic names
  • inserted frame_id to all camera topics
  • removed unused channels from PointCloud2
  • bugfix
  • added params to toggle publishing
  • added params to toggle publishing
  • added params to toggle publishing
  • tof now publishes also PointCloud
  • add tf information
  • tof now publishes also PointCloud2
  • added feature mask
  • update documentation and deleted tf broadcaster
  • bug fixes
  • launch files now independent of cob number
  • launch files for color cameras on cob3-2
  • launch file for all cameras
  • removed blacklist
  • restructured launch files for camera sensors
  • JSF: Did not much
  • adapted to new param names
  • added support for virtual cameras
  • Merge branch 'master' of github.com:ipa-goa/care-o-bot
  • added virtual camera support
  • JSF: Removed dependency to libwm4
  • JSF: Added filtering function for isolated points in point cloud
  • JSF
  • add ROS_BUILD_BLACKLIST
  • JSF: Integrated image acquisition method for all cameras to calibrate
  • JSF: Added image capture program to enable convenient calibration
  • fixed assertion condition
  • added filter functions to vision_utils
  • JSF: refactoring
  • JSF: refactored
  • JSF: refactoring
  • JSF: refactoring
  • JSF: refactoring
  • JSF: Refactoring
  • parallel service and topic
  • service mode changes
  • service mode changes
  • service mode changes
  • service mode changes
  • JSF
  • JSF: Bugfix for Pike camera for proper closing
  • added image service to tof node
  • added filtering of tear-off edges and amplitudes for TOF cameras
  • Merge branch 'master' of github.com:ipa320/care-o-bot into ipa320
  • JSF: Fixed memory leaks
  • cleanup in cob_driver
  • changed CAM_VIRTUAL to CAM_SWISSRANGER
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed distortion parameters
  • launch file for all cameras on cob3-2
  • JSF: Modified VirtualRangeCamera to acquire amplitude images instead of z images
  • Merge branch 'review' Conflicts: cob_driver/cob_camera_sensors/ros/launch/cob3-2_tof.launch
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed directory for virtual cam
  • JSF: Bugfix
  • JSF: Bugfix
  • JSF: Added intrinsics to topic
  • JSF: Added intrinsics to topic
  • JSF: Added readme file
  • JSF: Added tutorial for camera sensors
  • JSF
  • JSF: Conflicts resolving
  • JSF: Bugfixes
  • JSF: Bugfix
  • launch file for cob3-2 tof
  • removed range depth image from Virtual Range Camera
  • JSF: Implemented support of different intrinsic matrices
  • JSF: Adapted intrinsic matrix handling
  • JSF: Added intrinsic adaption to tof_viewer
  • JSF: Added possibility to have several intrinsics
  • switched intrinsics
  • added camera paramters for hand-eye-calibration
  • launch file for tof on cob3-2
  • Merge branch 'master' into review Conflicts: cob_driver/cob_camera_sensors/ros/src/tof_camera_viewer.cpp
  • added delay in grey image callback to improve quality
  • new calibration data
  • removed wrong number
  • merge
  • bugfixes and remap adaptions
  • JSF: Adapted service parameters
  • removed ros target libraries
  • JSF: adapted namespaces
  • JSF: Namespace adaptions
  • Merge branch 'master' of git@github.com:ipa320/care-o-bot into review
  • JSF: Adapted namespaces
  • merged conflict
  • save commit
  • removed dependencies
  • removed 3D support from tof viewer because of dependency issues
  • camera config file for cob3-2
  • GOA: added 3D viewer
  • GOA: renamed message in GetColoredPointCloud service
  • GOA: changes in config files
  • GOA: changed point cloud service
  • merge with ipa320
  • JSF
  • JSF: Cleaned up cob_camera_sensors
  • JSF: Adapted size of remap matrix for undistortion to be adaptive to swissranger and PMD sensor
  • launch file for camera synchronizer
  • GOA: grey images can be saved in tof_camera_viewer now added camera_synchronizer node
  • bugfix
  • bug fix
  • GOA: added launch file for prosilica cameras
  • JSF : Implemented all_cameras node to open all connected cameras at once. This enables triggereing of all cameras
  • JSF: Added node to open all cameras at once
  • JSF: Added node to open all cameras at once
  • JSF
  • JSF: Merged conflicted files
  • JSF: Adapted ROS Makefiles
  • JSF: Adapted include paths
  • JSF: Merged conflicts
  • JSF: Adapted include paths
  • JSF: Extended vision utils by two files two remove dependecy of cob_sensor_fusion from cob_camera_sensors
  • JSF: Added short documentation for camera drivers
  • JSF: Fixed problem with ToF viewer, added support for both color cameras
  • link libdc1394 to cob_camera_sensors library
  • renamed to general cob packages
  • record changes
  • modified play file, added kinect parameters
  • modified launch files
  • record acripts for kinect data
  • merge
  • changed name
  • calib position update
  • Merge branch 'review-320'
  • changed to PointXYZ
  • Contributors: Alexander Bubeck, COB3-Navigation, Georg, Georg Arbeiter, Jan Fischer, Richard Bormann, abubeck, b-it-bots, cob, cob3-1-pc2, cpc-pk, fmw-jk, goa, goa-uq, ipa-cob3-3, ipa-fmw, ipa-goa, ipa-goa-aa, ipa-jsf, ipa-mig, ipa-rmb, ipa-taj, ipa-uhr-fm, ipa320, unknown

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Recent questions tagged cob_camera_sensors at answers.ros.org

Package Summary

Tags No category tags.
Version 0.6.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version indigo_dev
Last Updated 2018-11-29
Dev Status DEVELOPED
Released RELEASED

Package Description

For more information read the readme.htm file located in

Additional Links

Maintainers

  • Richard Bormann

Authors

  • Jan Fischer
  • Richard Bormann
<h1>HowTo - cob_camera_sensors</h1>
<p>
The <i>cob_camera_sensors</i> package is a collection of ROS compatible drivers for the cameras installed on Care-O-bot<sup>&#0174;</sup> 3. These include two AVT Pike C145 color cameras and one Swissranger 4000 time-of-flight sensor from Mesa Imaging. Both camera type are support for Windows and Linux. To enable Windows compatibility, remove all <code>-D__LINUX__</code> flags from <i>CMakeLists.txt</i> located at <i>cob_driver/cob_camera_sensors</i>. Lately, two Prosilica GC1380CH color cameras have been installed on one of the Care-O-bot<sup>&#0174;</sup>s, which are natively supported by ROS with the <i>prosilica_camera</i> package. The <i>prosilica_camera</i> binaries are executed within the related launch files.
<i>cob_camera_sensors</i>
</p>
<p>
Setting the camera parameters is different from the suggested ROS standard. Instead of setting all parameters within the ROS launch file, camera specific parameters are set within IPA specific configurations. This originates from IPA internal requirements to maintain backward compatibility to existing components. The ROS launch file only holds parameters related to the camera setup (e.g. 2 Pikes and 1 Swissranger) and a link to the IPA internal configuration file.
</p>
<h2>IPA configuration files</h2>
<p>
The IPA configuration file is located at <i>cob_driver/cob_camera_sensors/common/files</i> in a folder related to your sensor setup e.g. <i>cob3-1</i> or <i>cob3-2</i>. The configuration is XML-based. It holds one XML-tag for each camera e.g. <code>&lt;AVTPikeCam_0&gt;</code> for a AVT Pike C145 camera. The number within the tag-name is used to differentiate several camera of the same type. Here is an excerpt from the IPA configuration file of one of our Care-O-bot<sup>&#0174;</sup>s.
</p>
<code>
&lt;!-- Camera sensors initialization file --&gt;<br>
&lt;LibCameraSensors&gt;<br><br>
&lt;!-- Color sensors --&gt;<br>
&lt;AVTPikeCam_0&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Holds the 64-Bit GUID of a connected node --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- A GUID consists of a 32-Bit high part that holds the Vendor ID (Highest 24 Bits) --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- and the Chip ID (8 Bits) and a 32-Bit low part that holds the lower bits of the Chip ID. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The GUID is unique for all FireWire devices on the world. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;GUID high="000A4701" low="10077026" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The master initializes and releases the camera library and is --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- respnsible for emitting the trigger signal to other cameras --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The slave is synchronizing its image acquisition with the trigger signal --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid roles: MASTER oR SLAVE --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;Role value="MASTER" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: appropriate framerte or AUTO and DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;FrameRate fps="3" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: FORMAT_0, FORMAT_1, FORMAT_2 ,FORMAT_7, DEFAULT--&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoFormat type="FORMAT_7" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: MODE_0 - MODE_7, DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoMode type="MODE_0" /&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ...<br>

&lt;AVTPikeCam_0/&gt;
</code>
<p>
Each tag within the IPA configuration file has a short explanation of its functionality. Please feel free to examine one of the Care-O-bot<sup>&#0174;</sup> configuration files to get an impression of the possible settings.
</p>
Camera intrinsics may be set for each camera with the designated tags. The information is later published with the images using the ROS <code>CameraPublisher</code> from the <code>image_transport</code> package. The user has the possibility of specifying different intrinsic. This is related to stereo vision, where intrinsics are optimize to fit to another camera. If not other specified in the ROS launch file, intrinsic parameters not related to any other camera are published. Extrinsic specify the rotation and translation relative to another camera. These parameters are not yet published and for IPA internal usage only.
<p>
For each camera their is also a related <code>&lt;VirtualXXXCam_X&gt;</code> tag. The also is related to backward compatibility issues and not used within ROS. Originally, it provided support for loading saved image data from disk and using it as if it came from a real camera device. However, ROS already provides more sophisticated means to record and play back data using <i>rosrecord</i>, <i>rosplay</i> and <i>bag files</i>.
</p>
<h2>ROS launch files</h2>
<p>
ROS launch files are used are located in <i>cob_driver/cob_camera_sensors/ros/launch</i> and hold information about the overall sensor setup not related to a specific camera. There is a launch file to start each camera independently and a launch file to start all Care-O-bot<sup>&#0174;</sup> cameras at once. Each launch file specifies the location of the related IPA configuration file and the used color camera or time-of-flight camera type. The following camera types are supported:
<ul><code>CAM_SWISSRANGER</code> - For Mesa Swissranger 3000/4000 time-of-flight camera</ul>
<ul><code>CAM_AVTPIKE</code> - For AVT Pike 145C color camera</ul>
The Prosilica GC1380CH color camera is supported through the ROS <i>prosilica_camera</i> package. To get more information, have a look at their tutorial. The camera specific launch files have an additional parameter specifying the camera's ID which is related to the number within the tag-name in the IPA configuration file e.g. <code>&lt;AVTPikeCam_<b>0</b>&gt;</code>.
</p>
<p>
Knowing the fundamentals, we are now ready to start up the cameras.
</p>

<h2>AVT Pike C145</h2>

<p>
To run the AVT Pike C145 cameras from Care-O-bot<sup>&#0174;</sup> 3 you must first ensure a proper setup of the camera hardware. At first ensure that the cameras are recognized by your Linux system, executing <i>dmesg</i>. When you now unplug and plugin the firewire cable you shod see some differences in the output, when repeatedly executing the <i>dmesg</i> command. On my pc the dmesg output is after plugging in the cameras is as follows:
</p>
<code>
$ dmesg | grep 1394<br><br>

[    1.298395] ohci1394 0000:04:03.0: PCI INT A -> GSI 19 (level, low) -> IRQ 19<br>
[    1.358234] ohci1394: fw-host0: OHCI-1394 1.0 (PCI): IRQ=[19]  MMIO=[90300000-903007ff]  Max Packet=[2048]  IR/IT contexts=[8/8]<br>
[    2.644206] ieee1394: Host added: ID:BUS[0-00:1023]  GUID[002332fffe19d87a]<br>
[  159.528932] ieee1394: Node changed: 0-00:1023 -> 0-01:1023<br>
[  160.418182] ieee1394: Node added: ID:BUS[0-00:1023]  GUID[000a470110077026]<br>
[  160.424805] ieee1394: Node added: ID:BUS[0-01:1023]  GUID[000a470110073080]<br>
[  160.424912] ieee1394: Node changed: 0-01:1023 -> 0-03:1023<br>
[  160.438307] video1394: Installed video1394 module<br>
[  160.453156] ieee1394: raw1394: /dev/raw1394 device initialized<br>
</code>
<p>
 If not, make sure the green LEDs of the camera are on and you properly connected the camera to your PC. Additionally you may check with <i>lsmod | grep 1394</i> that all necessary firewire modules have been loaded. To make sure that you installed all necessary drivers on your system you may also want to install <i>coriander</i> with all its dependencies. <i>Coriander</i> is a handy tool to access all kind of ieee1394 firewire cameras and play with their settings.
</p>
<p>
Once the camera is recognized by the system, you must create udev rules to get access right to the ieee1394 devices located at <i>/dev/raw1394</i> and <i>/dev/video1394</i>. Therefore create a file called <i>01-ieee1394.rules</i> in <i>/etc/udev/rules.d/</i> with the following content
</p>
<code>
#firewire camera devices<br>
KERNEL=="raw1394*",GROUP="plugdev",MODE="0664"<br>
KERNEL=="video1394*",GROUP="plugdev",MODE="0664"
</code>
<p>
Check if the Linux groups <i>plugdev</i> and <i>video</i> exist and if not create them. Then, add your Linux user these groups and restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). To test your cameras, run <i>coriander</i>. If it does not start up, there are still some issues to be solved before proceeding. Check if your user's group settings and the settings of the firewire device files at <i>/dev/raw1394</i> and <i>/dev/video1394</i> coincide. Once coriander is running, we are ready to launch the ROS nodes of the cameras, explained here on the example of Care-O-bot<sup>&#0174;</sup> 3 number 1.
<ol>
    <li>Install dependencies (<code>rosdep install cob_camera_sensors</code>) and build <i>cob_camera_sensors</i> (<code>rosmake cob_camera_sensors</code>) </li>
    <li>Launch the left IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_left.launch</code> </li>
    <li>Launch the right IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_right.launch</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the left color camera with <code>rosrun image_view image_view image:=/camera/left/color_image</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the right color camera with <code>rosrun image_view image_view image:=/camera/right/color_image</code> </li>
</ol>
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and swissranger nodes you will have the following topic available.
<ul>/pike_145C/left/camera_info</ul>
<ul>/pike_145C/left/image_color</ul>
<ul>/pike_145C/left/image_color/compressed</ul>
<ul>/pike_145C/left/image_color/theora</ul>
<ul>/pike_145C/right/camera_info</ul>
<ul>/pike_145C/right/image_color</ul>
<ul>/pike_145C/right/image_color/compressed</ul>
<ul>/pike_145C/right/image_color/theora</ul>

The color camera implements the <i>polled_camera</i> camera interface from ROS. Within the launch files a poller is started to continuously request images from the color cameras and publish them on a topic.
</p>
<h2>Swissranger</h2>
<p>
Both Swissranger versions 3000 and 4000 are supported. To run a Swissranger time-of-flight camera install the Linux drivers from www.mesa-imaging.ch. The ROS drivers have been tested with <i> libmesasr-dev-1.0.14-620.i386.deb</i>. Make sure there is a udev rule located for the Swissranger camera in <i>/etc/udev/rules.d/</i> after installing the driver. Depending on the specified group within the udev rule (usually <i>usb</i>), add your Linux user to this group. Restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). Now you are set up to use the Swissranger with the ROS drivers from <i>cob_camera_sensors</i>, here at the example of Care-O-bot<sup>&#0174;</sup> number 1:
<ol>
    <li>Launch the Swissranger camera with <code>roslaunch cob_camera_sensors cob3-1_tof.launch</code></li>
    <li>Launch the Tof image viewer with <code>roslaunch cob_camera_sensors tof_camera_viewer.launch</code></li>
</ol>
If your camera is connected via ethernet, skip the udev rules and enter the appropriate ethernet address in the IPA configuration file.
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and Swissranger nodes you will have the following topic available.
<ul>/sr4000/camera_info</ul>
<ul>/sr4000/image_grey</ul>
<ul>/sr4000/image_grey/compressed</ul>
<ul>/sr4000/image_grey/theora</ul>
<ul>/sr4000/image_xyz</ul>
<ul>/sr4000/image_xyz/compressed</ul>
<ul>/sr4000/image_xyz/theora</ul>
</p>


CHANGELOG

Changelog for package cob_camera_sensors

0.6.12 (2018-07-21)

0.6.11 (2018-01-07)

  • Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
  • Merge pull request #341 from ipa-fxm/APACHE_license use license apache 2.0
  • use license apache 2.0
  • Merge branch 'indigo_dev' of github.com:ipa320/cob_driver into feature/mimic_sim
  • Merge pull request #351 from mikaelarguedas/add_tinyxml_dependency add tinyxml to package.xml
  • add tinyxml to package.xml
  • Merge pull request #349 from ipa320/ipa-rmb-patch-1 Changed Maintainer
  • Changed Maintainer
  • Contributors: Benjamin Maidel, Felix Messmer, Mikael Arguedas, Richard Bormann, ipa-fxm, ipa-uhr-mk

0.6.10 (2017-07-24)

0.6.9 (2017-07-18)

  • manually fix changelog
  • Contributors: ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

0.6.5 (2015-08-31)

0.6.4 (2015-08-25)

  • boost revision
  • explicit dependency to boost
  • more cleanup
  • remove obsolete autogenerated mainpage.dox files
  • remove trailing whitespaces
  • migrate to package format 2
  • sort dependencies
  • critically review dependencies
  • Contributors: ipa-fxm

0.6.3 (2015-06-17)

0.6.2 (2014-12-15)

0.6.1 (2014-09-17)

0.6.0 (2014-09-09)

0.5.7 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • 0.5.6
  • update changelog
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • Contributors: Alexander Bubeck, Florian Weisshardt

0.5.6 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • Contributors: Alexander Bubeck, Florian Weisshardt

0.5.3 (2014-03-31)

  • removed obsolete files
  • install tags
  • Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

  • cob_camera_sensors: add missing dependency to message_generation/message_runtime
  • cleaned up CMakeLists and added install directives
  • compiling but still some linker errors
  • get frame id
  • Second catkinization push
  • First catkinization, still need to update some CMakeLists.txt
  • fixed namespace, removed obsolete lines from manifest
  • removed throttle node to perception common
  • moved to cob_cam3d_throttle in cob_perception_common
  • set queue size to 1
  • remove launch file from driver stack
  • added additional topics, added launch file for testing
  • Merge branch 'master' of github.com:ipa320/cob_driver
  • add subscription management
  • fixed nodelet name
  • add nodelet plugin file
  • added cam3d throttle
  • remove deprecated deps of cob_camera_sensors
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • removed deprecated debs
  • Merge branch 'release_fuerte'
  • fuerte rosdep migration
  • changes for fuerte compatibility
  • fix lib directory
  • removed deprecated launch files
  • using tinyxml from system dependency
  • merge
  • using kinect driver without nodelet
  • small changes
  • Merge branch 'master' of github.com:ipa-fmw/cob_driver
  • add voxelgrid filter
  • set frrequency of cameras to 10
  • deactivate test for cam3d
  • using env ROBOT
  • small changes
  • fix test for camera_sensors
  • merge with 320
  • merge
  • Removed kinect stuff. To be replaced by rmb version
  • added dummy depth calibration to kinect driver
  • adapted cob_camera_sensors to new kinect driver in electric
  • camera_sensors test
  • fixed includes
  • added rostest
  • Updated camera calibration for cob3-3
  • PCH LINUX
  • PCH
  • PCH
  • StdAFx
  • merge
  • Merge branch 'review-rmb'
  • moved vision message and service files
  • moved services to camera_sensors
  • merge
  • changed topic names
  • enlarged wait_time
  • added wait time for hztest_camera_left
  • added wait_time
  • adapted test files
  • switched master/slave settings for cob3-2 since they are mounted the other way around
  • updated timestamp in flipped images from kinect (because of rosbag play problem)
  • changed the topic names again to the last change before they were overwritten by fmw
  • sensor fusion finally working
  • merg
  • merge
  • adjust camera parameter
  • image flip
  • uplaod param file
  • merge
  • new calibration for kinect
  • higher resolution for cob3-1 cameras
  • now saves the transxformation to head_axis_link
  • calib script for cob3-3
  • adapted tof test parameters
  • test configuration
  • changed test topic of tof
  • changed frame names
  • corrected the swissranger topics to the unified naming scheme
  • merge
  • more comments added to yaml generator script
  • added Matlab script for generating yaml files
  • correct camera startup order in all_cameras.launch
  • added new camera properties to the driver and config files (auto exposure maximal duration)
  • new auto exposure settings in yaml file
  • renamed all_cameras.launch in demo-cell folder
  • new link names for kinect sensors
  • new links for kinect
  • new link names for the prosilica cameras
  • renamed the camera sensors launch files
  • renamed topics for people detection
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • added camera parameter paket_size
  • configuration files now correct
  • fixed position of rosparam in launch file
  • added trigger_mode parameter to yaml files and corrected their values
  • added settings for cob3-3 prosilica cameras
  • merge
  • cob_camera_sensor's launch files reorganized. almost done.
  • kinect flip outputting image head over reverted (no bug, was already correct)
  • kinect flip outputting image head over fixed
  • merge
  • prosilica can load intrinsic parameters from calibration automatically in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • added script for loading camera parameters
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • rearranging cob_camera_sensors launch files
  • reorganizing launch files in cob_camera_sensors
  • rearranging cob_camera_sensors launch files
  • cam3d for cob3-1
  • rearranging cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • kinect and prosilica calibration added for cob3-3
  • camera and kinect calibration
  • Merge branch 'review-320'
  • Merge branch 'review-goa-aa'
  • added missing nodelet_plugins.xml file for kinect flip
  • camera image flip with respect to camera pose on head finished and tested
  • added a nodelet for rotating the kinect image when the robots watches backwards
  • added test for full_cloud2
  • Merged Pointer for PMDCamCube and PMDCamBoard to PMDCam
  • Merge branch 'review-320'
  • undid last changes
  • fixed typo
  • testing other parameters
  • Added encoding ro image message
  • bugfix in VirtualRangeCam
  • updates for cob_classifier_training
  • updates because of cameraDataViewer adaptation to kinect
  • updates because of cameraDataViewer adaptation to kinect
  • Added CamBoard to AbstractRangeImagingSensor.h
  • changed test duration to 10s
  • added camera calibration files from matlab calibration
  • camera settings added for head
  • undo previous merge + commits
  • merge with review-sven
  • removed kinect form all cameras
  • added kinect to all_cameras.launch
  • added kinect to all_cameras.launch
  • typo fixed
  • modified parameters
  • rostest file for tof camera
  • deleted rostest file integration
  • included rostest file
  • included rostest file
  • included rostest
  • included rostest file
  • cameras working and calibrated
  • renamed camera topics
  • Git adaptions
  • def LINUX
  • fixed libusb bug
  • change back to cturtle
  • merge
  • merge
  • starting kinect with cob_bringup
  • removed mesa swissranger form the cob_bringup
  • added dependency to prosilica driver
  • fixed topics for camera test
  • added camera tests
  • now compatible to diamondback, does not compile anynmore with cturtle
  • chenged manifest
  • uncommented line
  • made cameras working
  • node for undistorting tof data
  • removed libmesa in rosdep.yaml
  • changed tof defaults
  • set fps to 15
  • cleanup in cob_driver
  • launch file for all cameras with ros driver
  • ros driver now working, add calibration data
  • calibration files for cameras
  • changes related to dc1394 ros driver
  • added launch file for left camera, modified parameters
  • launch file for camera1394
  • ros/src/all_camera_viewer.cpp some changes
  • bugfix
  • bugfix
  • JSF: Bugfix
  • JSF: Bugfixes
  • JSF: Added filtering for calibrating with noisy tof greyscale images
  • disabled sw trigger
  • adapted topic names
  • inserted frame_id to all camera topics
  • removed unused channels from PointCloud2
  • bugfix
  • added params to toggle publishing
  • added params to toggle publishing
  • added params to toggle publishing
  • tof now publishes also PointCloud
  • add tf information
  • tof now publishes also PointCloud2
  • added feature mask
  • update documentation and deleted tf broadcaster
  • bug fixes
  • launch files now independent of cob number
  • launch files for color cameras on cob3-2
  • launch file for all cameras
  • removed blacklist
  • restructured launch files for camera sensors
  • JSF: Did not much
  • adapted to new param names
  • added support for virtual cameras
  • Merge branch 'master' of github.com:ipa-goa/care-o-bot
  • added virtual camera support
  • JSF: Removed dependency to libwm4
  • JSF: Added filtering function for isolated points in point cloud
  • JSF
  • add ROS_BUILD_BLACKLIST
  • JSF: Integrated image acquisition method for all cameras to calibrate
  • JSF: Added image capture program to enable convenient calibration
  • fixed assertion condition
  • added filter functions to vision_utils
  • JSF: refactoring
  • JSF: refactored
  • JSF: refactoring
  • JSF: refactoring
  • JSF: refactoring
  • JSF: Refactoring
  • parallel service and topic
  • service mode changes
  • service mode changes
  • service mode changes
  • service mode changes
  • JSF
  • JSF: Bugfix for Pike camera for proper closing
  • added image service to tof node
  • added filtering of tear-off edges and amplitudes for TOF cameras
  • Merge branch 'master' of github.com:ipa320/care-o-bot into ipa320
  • JSF: Fixed memory leaks
  • cleanup in cob_driver
  • changed CAM_VIRTUAL to CAM_SWISSRANGER
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed distortion parameters
  • launch file for all cameras on cob3-2
  • JSF: Modified VirtualRangeCamera to acquire amplitude images instead of z images
  • Merge branch 'review' Conflicts: cob_driver/cob_camera_sensors/ros/launch/cob3-2_tof.launch
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed directory for virtual cam
  • JSF: Bugfix
  • JSF: Bugfix
  • JSF: Added intrinsics to topic
  • JSF: Added intrinsics to topic
  • JSF: Added readme file
  • JSF: Added tutorial for camera sensors
  • JSF
  • JSF: Conflicts resolving
  • JSF: Bugfixes
  • JSF: Bugfix
  • launch file for cob3-2 tof
  • removed range depth image from Virtual Range Camera
  • JSF: Implemented support of different intrinsic matrices
  • JSF: Adapted intrinsic matrix handling
  • JSF: Added intrinsic adaption to tof_viewer
  • JSF: Added possibility to have several intrinsics
  • switched intrinsics
  • added camera paramters for hand-eye-calibration
  • launch file for tof on cob3-2
  • Merge branch 'master' into review Conflicts: cob_driver/cob_camera_sensors/ros/src/tof_camera_viewer.cpp
  • added delay in grey image callback to improve quality
  • new calibration data
  • removed wrong number
  • merge
  • bugfixes and remap adaptions
  • JSF: Adapted service parameters
  • removed ros target libraries
  • JSF: adapted namespaces
  • JSF: Namespace adaptions
  • Merge branch 'master' of git@github.com:ipa320/care-o-bot into review
  • JSF: Adapted namespaces
  • merged conflict
  • save commit
  • removed dependencies
  • removed 3D support from tof viewer because of dependency issues
  • camera config file for cob3-2
  • GOA: added 3D viewer
  • GOA: renamed message in GetColoredPointCloud service
  • GOA: changes in config files
  • GOA: changed point cloud service
  • merge with ipa320
  • JSF
  • JSF: Cleaned up cob_camera_sensors
  • JSF: Adapted size of remap matrix for undistortion to be adaptive to swissranger and PMD sensor
  • launch file for camera synchronizer
  • GOA: grey images can be saved in tof_camera_viewer now added camera_synchronizer node
  • bugfix
  • bug fix
  • GOA: added launch file for prosilica cameras
  • JSF : Implemented all_cameras node to open all connected cameras at once. This enables triggereing of all cameras
  • JSF: Added node to open all cameras at once
  • JSF: Added node to open all cameras at once
  • JSF
  • JSF: Merged conflicted files
  • JSF: Adapted ROS Makefiles
  • JSF: Adapted include paths
  • JSF: Merged conflicts
  • JSF: Adapted include paths
  • JSF: Extended vision utils by two files two remove dependecy of cob_sensor_fusion from cob_camera_sensors
  • JSF: Added short documentation for camera drivers
  • JSF: Fixed problem with ToF viewer, added support for both color cameras
  • link libdc1394 to cob_camera_sensors library
  • renamed to general cob packages
  • record changes
  • modified play file, added kinect parameters
  • modified launch files
  • record acripts for kinect data
  • merge
  • changed name
  • calib position update
  • Merge branch 'review-320'
  • changed to PointXYZ
  • Contributors: Alexander Bubeck, COB3-Navigation, Georg, Georg Arbeiter, Jan Fischer, Richard Bormann, abubeck, b-it-bots, cob, cob3-1-pc2, cpc-pk, fmw-jk, goa, goa-uq, ipa-cob3-3, ipa-fmw, ipa-goa, ipa-goa-aa, ipa-jsf, ipa-mig, ipa-rmb, ipa-taj, ipa-uhr-fm, ipa320, unknown

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Package Summary

Tags No category tags.
Version 0.5.5
License LGPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version hydro_dev
Last Updated 2015-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

For more information read the readme.htm file located in

Additional Links

Maintainers

  • Jan Fischer

Authors

  • Jan Fischer
<h1>HowTo - cob_camera_sensors</h1>
<p>
The <i>cob_camera_sensors</i> package is a collection of ROS compatible drivers for the cameras installed on Care-O-bot<sup>&#0174;</sup> 3. These include two AVT Pike C145 color cameras and one Swissranger 4000 time-of-flight sensor from Mesa Imaging. Both camera type are support for Windows and Linux. To enable Windows compatibility, remove all <code>-D__LINUX__</code> flags from <i>CMakeLists.txt</i> located at <i>cob_driver/cob_camera_sensors</i>. Lately, two Prosilica GC1380CH color cameras have been installed on one of the Care-O-bot<sup>&#0174;</sup>s, which are natively supported by ROS with the <i>prosilica_camera</i> package. The <i>prosilica_camera</i> binaries are executed within the related launch files.
<i>cob_camera_sensors</i>
</p>
<p>
Setting the camera parameters is different from the suggested ROS standard. Instead of setting all parameters within the ROS launch file, camera specific parameters are set within IPA specific configurations. This originates from IPA internal requirements to maintain backward compatibility to existing components. The ROS launch file only holds parameters related to the camera setup (e.g. 2 Pikes and 1 Swissranger) and a link to the IPA internal configuration file.
</p>
<h2>IPA configuration files</h2>    
<p>
The IPA configuration file is located at <i>cob_driver/cob_camera_sensors/common/files</i> in a folder related to your sensor setup e.g. <i>cob3-1</i> or <i>cob3-2</i>. The configuration is XML-based. It holds one XML-tag for each camera e.g. <code>&lt;AVTPikeCam_0&gt;</code> for a AVT Pike C145 camera. The number within the tag-name is used to differentiate several camera of the same type. Here is an excerpt from the IPA configuration file of one of our Care-O-bot<sup>&#0174;</sup>s.
</p>
<code>
&lt;!-- Camera sensors initialization file --&gt;<br>
&lt;LibCameraSensors&gt;<br><br>
&lt;!-- Color sensors --&gt;<br>
&lt;AVTPikeCam_0&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Holds the 64-Bit GUID of a connected node --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- A GUID consists of a 32-Bit high part that holds the Vendor ID (Highest 24 Bits) --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- and the Chip ID (8 Bits) and a 32-Bit low part that holds the lower bits of the Chip ID. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The GUID is unique for all FireWire devices on the world. --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;GUID high="000A4701" low="10077026" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The master initializes and releases the camera library and is --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- respnsible for emitting the trigger signal to other cameras --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- The slave is synchronizing its image acquisition with the trigger signal --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid roles: MASTER oR SLAVE --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;Role value="MASTER" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: appropriate framerte or AUTO and DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;FrameRate fps="3" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: FORMAT_0, FORMAT_1, FORMAT_2 ,FORMAT_7, DEFAULT--&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoFormat type="FORMAT_7" /&gt;<br>

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;!-- Valid values: MODE_0 - MODE_7, DEFAULT --&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &lt;VideoMode type="MODE_0" /&gt;<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; ...<br>

&lt;AVTPikeCam_0/&gt;
</code> 
<p>
Each tag within the IPA configuration file has a short explanation of its functionality. Please feel free to examine one of the Care-O-bot<sup>&#0174;</sup> configuration files to get an impression of the possible settings. 
</p>
Camera intrinsics may be set for each camera with the designated tags. The information is later published with the images using the ROS <code>CameraPublisher</code> from the <code>image_transport</code> package. The user has the possibility of specifying different intrinsic. This is related to stereo vision, where intrinsics are optimize to fit to another camera. If not other specified in the ROS launch file, intrinsic parameters not related to any other camera are published. Extrinsic specify the rotation and translation relative to another camera. These parameters are not yet published and for IPA internal usage only. 
<p>
For each camera their is also a related <code>&lt;VirtualXXXCam_X&gt;</code> tag. The also is related to backward compatibility issues and not used within ROS. Originally, it provided support for loading saved image data from disk and using it as if it came from a real camera device. However, ROS already provides more sophisticated means to record and play back data using <i>rosrecord</i>, <i>rosplay</i> and <i>bag files</i>.
</p>
<h2>ROS launch files</h2>
<p>
ROS launch files are used are located in <i>cob_driver/cob_camera_sensors/ros/launch</i> and hold information about the overall sensor setup not related to a specific camera. There is a launch file to start each camera independently and a launch file to start all Care-O-bot<sup>&#0174;</sup> cameras at once. Each launch file specifies the location of the related IPA configuration file and the used color camera or time-of-flight camera type. The following camera types are supported:
<ul><code>CAM_SWISSRANGER</code> - For Mesa Swissranger 3000/4000 time-of-flight camera</ul>
<ul><code>CAM_AVTPIKE</code> - For AVT Pike 145C color camera</ul>
The Prosilica GC1380CH color camera is supported through the ROS <i>prosilica_camera</i> package. To get more information, have a look at their tutorial. The camera specific launch files have an additional parameter specifying the camera's ID which is related to the number within the tag-name in the IPA configuration file e.g. <code>&lt;AVTPikeCam_<b>0</b>&gt;</code>.
</p>
<p>
Knowing the fundamentals, we are now ready to start up the cameras.
</p>

<h2>AVT Pike C145</h2>

<p>
To run the AVT Pike C145 cameras from Care-O-bot<sup>&#0174;</sup> 3 you must first ensure a proper setup of the camera hardware. At first ensure that the cameras are recognized by your Linux system, executing <i>dmesg</i>. When you now unplug and plugin the firewire cable you shod see some differences in the output, when repeatedly executing the <i>dmesg</i> command. On my pc the dmesg output is after plugging in the cameras is as follows:
</p>
<code>
$ dmesg | grep 1394<br><br>

[    1.298395] ohci1394 0000:04:03.0: PCI INT A -> GSI 19 (level, low) -> IRQ 19<br>
[    1.358234] ohci1394: fw-host0: OHCI-1394 1.0 (PCI): IRQ=[19]  MMIO=[90300000-903007ff]  Max Packet=[2048]  IR/IT contexts=[8/8]<br>
[    2.644206] ieee1394: Host added: ID:BUS[0-00:1023]  GUID[002332fffe19d87a]<br>
[  159.528932] ieee1394: Node changed: 0-00:1023 -> 0-01:1023<br>
[  160.418182] ieee1394: Node added: ID:BUS[0-00:1023]  GUID[000a470110077026]<br>
[  160.424805] ieee1394: Node added: ID:BUS[0-01:1023]  GUID[000a470110073080]<br>
[  160.424912] ieee1394: Node changed: 0-01:1023 -> 0-03:1023<br>
[  160.438307] video1394: Installed video1394 module<br>
[  160.453156] ieee1394: raw1394: /dev/raw1394 device initialized<br>
</code>
<p>
 If not, make sure the green LEDs of the camera are on and you properly connected the camera to your PC. Additionally you may check with <i>lsmod | grep 1394</i> that all necessary firewire modules have been loaded. To make sure that you installed all necessary drivers on your system you may also want to install <i>coriander</i> with all its dependencies. <i>Coriander</i> is a handy tool to access all kind of ieee1394 firewire cameras and play with their settings.
</p>
<p>
Once the camera is recognized by the system, you must create udev rules to get access right to the ieee1394 devices located at <i>/dev/raw1394</i> and <i>/dev/video1394</i>. Therefore create a file called <i>01-ieee1394.rules</i> in <i>/etc/udev/rules.d/</i> with the following content
</p>
<code>
#firewire camera devices<br>
KERNEL=="raw1394*",GROUP="plugdev",MODE="0664"<br>
KERNEL=="video1394*",GROUP="plugdev",MODE="0664"
</code>
<p>
Check if the Linux groups <i>plugdev</i> and <i>video</i> exist and if not create them. Then, add your Linux user these groups and restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). To test your cameras, run <i>coriander</i>. If it does not start up, there are still some issues to be solved before proceeding. Check if your user's group settings and the settings of the firewire device files at <i>/dev/raw1394</i> and <i>/dev/video1394</i> coincide. Once coriander is running, we are ready to launch the ROS nodes of the cameras, explained here on the example of Care-O-bot<sup>&#0174;</sup> 3 number 1. 
<ol>
    <li>Install dependencies (<code>rosdep install cob_camera_sensors</code>) and build <i>cob_camera_sensors</i> (<code>rosmake cob_camera_sensors</code>) </li>
    <li>Launch the left IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_left.launch</code> </li>
    <li>Launch the right IEEE1394 camera with <code>roslaunch cob_camera_sensors cob3-1_color_camera_right.launch</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the left color camera with <code>rosrun image_view image_view image:=/camera/left/color_image</code> </li>
    <li>Launch <i>image_view</i> from ROS to show images from the right color camera with <code>rosrun image_view image_view image:=/camera/right/color_image</code> </li>
</ol>
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and swissranger nodes you will have the following topic available.
<ul>/pike_145C/left/camera_info</ul>
<ul>/pike_145C/left/image_color</ul>
<ul>/pike_145C/left/image_color/compressed</ul>
<ul>/pike_145C/left/image_color/theora</ul>
<ul>/pike_145C/right/camera_info</ul>
<ul>/pike_145C/right/image_color</ul>
<ul>/pike_145C/right/image_color/compressed</ul>
<ul>/pike_145C/right/image_color/theora</ul>

The color camera implements the <i>polled_camera</i> camera interface from ROS. Within the launch files a poller is started to continuously request images from the color cameras and publish them on a topic.
</p>
<h2>Swissranger</h2>
<p>
Both Swissranger versions 3000 and 4000 are supported. To run a Swissranger time-of-flight camera install the Linux drivers from www.mesa-imaging.ch. The ROS drivers have been tested with <i> libmesasr-dev-1.0.14-620.i386.deb</i>. Make sure there is a udev rule located for the Swissranger camera in <i>/etc/udev/rules.d/</i> after installing the driver. Depending on the specified group within the udev rule (usually <i>usb</i>), add your Linux user to this group. Restart your computer to activate the changes (Maybe you know a better way, to update the udev rules?). Now you are set up to use the Swissranger with the ROS drivers from <i>cob_camera_sensors</i>, here at the example of Care-O-bot<sup>&#0174;</sup> number 1:
<ol>
    <li>Launch the Swissranger camera with <code>roslaunch cob_camera_sensors cob3-1_tof.launch</code></li>
    <li>Launch the Tof image viewer with <code>roslaunch cob_camera_sensors tof_camera_viewer.launch</code></li>
</ol>
If your camera is connected via ethernet, skip the udev rules and enter the appropriate ethernet address in the IPA configuration file. 
</p>
<p>
All cameras are implemented using <i>image_transport</i> from ROS. Therefore, after launching the color camera and Swissranger nodes you will have the following topic available.
<ul>/sr4000/camera_info</ul>
<ul>/sr4000/image_grey</ul>
<ul>/sr4000/image_grey/compressed</ul>
<ul>/sr4000/image_grey/theora</ul>
<ul>/sr4000/image_xyz</ul>
<ul>/sr4000/image_xyz/compressed</ul>
<ul>/sr4000/image_xyz/theora</ul>
</p>


CHANGELOG

Changelog for package cob_camera_sensors

0.5.3 (2014-03-31)

  • removed obsolete files
  • install tags
  • Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

  • cob_camera_sensors: add missing dependency to message_generation/message_runtime
  • cleaned up CMakeLists and added install directives
  • compiling but still some linker errors
  • get frame id
  • Second catkinization push
  • First catkinization, still need to update some CMakeLists.txt
  • fixed namespace, removed obsolete lines from manifest
  • removed throttle node to perception common
  • moved to cob_cam3d_throttle in cob_perception_common
  • set queue size to 1
  • remove launch file from driver stack
  • added additional topics, added launch file for testing
  • Merge branch 'master' of github.com:ipa320/cob_driver
  • add subscription management
  • fixed nodelet name
  • add nodelet plugin file
  • added cam3d throttle
  • remove deprecated deps of cob_camera_sensors
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • moved kinect image flip from cob_camera_sensors to cob_image_flip
  • removed deprecated debs
  • Merge branch 'release_fuerte'
  • fuerte rosdep migration
  • changes for fuerte compatibility
  • fix lib directory
  • removed deprecated launch files
  • using tinyxml from system dependency
  • merge
  • using kinect driver without nodelet
  • small changes
  • Merge branch 'master' of github.com:ipa-fmw/cob_driver
  • add voxelgrid filter
  • set frrequency of cameras to 10
  • deactivate test for cam3d
  • using env ROBOT
  • small changes
  • fix test for camera_sensors
  • merge with 320
  • merge
  • Removed kinect stuff. To be replaced by rmb version
  • added dummy depth calibration to kinect driver
  • adapted cob_camera_sensors to new kinect driver in electric
  • camera_sensors test
  • fixed includes
  • added rostest
  • Updated camera calibration for cob3-3
  • PCH LINUX
  • PCH
  • PCH
  • StdAFx
  • merge
  • Merge branch 'review-rmb'
  • moved vision message and service files
  • moved services to camera_sensors
  • merge
  • changed topic names
  • enlarged wait_time
  • added wait time for hztest_camera_left
  • added wait_time
  • adapted test files
  • switched master/slave settings for cob3-2 since they are mounted the other way around
  • updated timestamp in flipped images from kinect (because of rosbag play problem)
  • changed the topic names again to the last change before they were overwritten by fmw
  • sensor fusion finally working
  • merg
  • merge
  • adjust camera parameter
  • image flip
  • uplaod param file
  • merge
  • new calibration for kinect
  • higher resolution for cob3-1 cameras
  • now saves the transxformation to head_axis_link
  • calib script for cob3-3
  • adapted tof test parameters
  • test configuration
  • changed test topic of tof
  • changed frame names
  • corrected the swissranger topics to the unified naming scheme
  • merge
  • more comments added to yaml generator script
  • added Matlab script for generating yaml files
  • correct camera startup order in all_cameras.launch
  • added new camera properties to the driver and config files (auto exposure maximal duration)
  • new auto exposure settings in yaml file
  • renamed all_cameras.launch in demo-cell folder
  • new link names for kinect sensors
  • new links for kinect
  • new link names for the prosilica cameras
  • renamed the camera sensors launch files
  • renamed topics for people detection
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • added camera parameter paket_size
  • configuration files now correct
  • fixed position of rosparam in launch file
  • added trigger_mode parameter to yaml files and corrected their values
  • added settings for cob3-3 prosilica cameras
  • merge
  • cob_camera_sensor's launch files reorganized. almost done.
  • kinect flip outputting image head over reverted (no bug, was already correct)
  • kinect flip outputting image head over fixed
  • merge
  • prosilica can load intrinsic parameters from calibration automatically in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • reorganizing launch files in cob_camera_sensors
  • added script for loading camera parameters
  • Merge branch 'master' of github.com:ipa-rmb/cob_driver
  • rearranging cob_camera_sensors launch files
  • reorganizing launch files in cob_camera_sensors
  • rearranging cob_camera_sensors launch files
  • cam3d for cob3-1
  • rearranging cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • reorganizing cob_camera_sensors launch files
  • kinect and prosilica calibration added for cob3-3
  • camera and kinect calibration
  • Merge branch 'review-320'
  • Merge branch 'review-goa-aa'
  • added missing nodelet_plugins.xml file for kinect flip
  • camera image flip with respect to camera pose on head finished and tested
  • added a nodelet for rotating the kinect image when the robots watches backwards
  • added test for full_cloud2
  • Merged Pointer for PMDCamCube and PMDCamBoard to PMDCam
  • Merge branch 'review-320'
  • undid last changes
  • fixed typo
  • testing other parameters
  • Added encoding ro image message
  • bugfix in VirtualRangeCam
  • updates for cob_classifier_training
  • updates because of cameraDataViewer adaptation to kinect
  • updates because of cameraDataViewer adaptation to kinect
  • Added CamBoard to AbstractRangeImagingSensor.h
  • changed test duration to 10s
  • added camera calibration files from matlab calibration
  • camera settings added for head
  • undo previous merge + commits
  • merge with review-sven
  • removed kinect form all cameras
  • added kinect to all_cameras.launch
  • added kinect to all_cameras.launch
  • typo fixed
  • modified parameters
  • rostest file for tof camera
  • deleted rostest file integration
  • included rostest file
  • included rostest file
  • included rostest
  • included rostest file
  • cameras working and calibrated
  • renamed camera topics
  • Git adaptions
  • def LINUX
  • fixed libusb bug
  • change back to cturtle
  • merge
  • merge
  • starting kinect with cob_bringup
  • removed mesa swissranger form the cob_bringup
  • added dependency to prosilica driver
  • fixed topics for camera test
  • added camera tests
  • now compatible to diamondback, does not compile anynmore with cturtle
  • chenged manifest
  • uncommented line
  • made cameras working
  • node for undistorting tof data
  • removed libmesa in rosdep.yaml
  • changed tof defaults
  • set fps to 15
  • cleanup in cob_driver
  • launch file for all cameras with ros driver
  • ros driver now working, add calibration data
  • calibration files for cameras
  • changes related to dc1394 ros driver
  • added launch file for left camera, modified parameters
  • launch file for camera1394
  • ros/src/all_camera_viewer.cpp some changes
  • bugfix
  • bugfix
  • JSF: Bugfix
  • JSF: Bugfixes
  • JSF: Added filtering for calibrating with noisy tof greyscale images
  • disabled sw trigger
  • adapted topic names
  • inserted frame_id to all camera topics
  • removed unused channels from PointCloud2
  • bugfix
  • added params to toggle publishing
  • added params to toggle publishing
  • added params to toggle publishing
  • tof now publishes also PointCloud
  • add tf information
  • tof now publishes also PointCloud2
  • added feature mask
  • update documentation and deleted tf broadcaster
  • bug fixes
  • launch files now independent of cob number
  • launch files for color cameras on cob3-2
  • launch file for all cameras
  • removed blacklist
  • restructured launch files for camera sensors
  • JSF: Did not much
  • adapted to new param names
  • added support for virtual cameras
  • Merge branch 'master' of github.com:ipa-goa/care-o-bot
  • added virtual camera support
  • JSF: Removed dependency to libwm4
  • JSF: Added filtering function for isolated points in point cloud
  • JSF
  • add ROS_BUILD_BLACKLIST
  • JSF: Integrated image acquisition method for all cameras to calibrate
  • JSF: Added image capture program to enable convenient calibration
  • fixed assertion condition
  • added filter functions to vision_utils
  • JSF: refactoring
  • JSF: refactored
  • JSF: refactoring
  • JSF: refactoring
  • JSF: refactoring
  • JSF: Refactoring
  • parallel service and topic
  • service mode changes
  • service mode changes
  • service mode changes
  • service mode changes
  • JSF
  • JSF: Bugfix for Pike camera for proper closing
  • added image service to tof node
  • added filtering of tear-off edges and amplitudes for TOF cameras
  • Merge branch 'master' of github.com:ipa320/care-o-bot into ipa320
  • JSF: Fixed memory leaks
  • cleanup in cob_driver
  • changed CAM_VIRTUAL to CAM_SWISSRANGER
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed distortion parameters
  • launch file for all cameras on cob3-2
  • JSF: Modified VirtualRangeCamera to acquire amplitude images instead of z images
  • Merge branch 'review' Conflicts: cob_driver/cob_camera_sensors/ros/launch/cob3-2_tof.launch
  • Merge branch 'master' of git@github.com:ipa-goa/care-o-bot
  • changed directory for virtual cam
  • JSF: Bugfix
  • JSF: Bugfix
  • JSF: Added intrinsics to topic
  • JSF: Added intrinsics to topic
  • JSF: Added readme file
  • JSF: Added tutorial for camera sensors
  • JSF
  • JSF: Conflicts resolving
  • JSF: Bugfixes
  • JSF: Bugfix
  • launch file for cob3-2 tof
  • removed range depth image from Virtual Range Camera
  • JSF: Implemented support of different intrinsic matrices
  • JSF: Adapted intrinsic matrix handling
  • JSF: Added intrinsic adaption to tof_viewer
  • JSF: Added possibility to have several intrinsics
  • switched intrinsics
  • added camera paramters for hand-eye-calibration
  • launch file for tof on cob3-2
  • Merge branch 'master' into review Conflicts: cob_driver/cob_camera_sensors/ros/src/tof_camera_viewer.cpp
  • added delay in grey image callback to improve quality
  • new calibration data
  • removed wrong number
  • merge
  • bugfixes and remap adaptions
  • JSF: Adapted service parameters
  • removed ros target libraries
  • JSF: adapted namespaces
  • JSF: Namespace adaptions
  • Merge branch 'master' of git@github.com:ipa320/care-o-bot into review
  • JSF: Adapted namespaces
  • merged conflict
  • save commit
  • removed dependencies
  • removed 3D support from tof viewer because of dependency issues
  • camera config file for cob3-2
  • GOA: added 3D viewer
  • GOA: renamed message in GetColoredPointCloud service
  • GOA: changes in config files
  • GOA: changed point cloud service
  • merge with ipa320
  • JSF
  • JSF: Cleaned up cob_camera_sensors
  • JSF: Adapted size of remap matrix for undistortion to be adaptive to swissranger and PMD sensor
  • launch file for camera synchronizer
  • GOA: grey images can be saved in tof_camera_viewer now added camera_synchronizer node
  • bugfix
  • bug fix
  • GOA: added launch file for prosilica cameras
  • JSF : Implemented all_cameras node to open all connected cameras at once. This enables triggereing of all cameras
  • JSF: Added node to open all cameras at once
  • JSF: Added node to open all cameras at once
  • JSF
  • JSF: Merged conflicted files
  • JSF: Adapted ROS Makefiles
  • JSF: Adapted include paths
  • JSF: Merged conflicts
  • JSF: Adapted include paths
  • JSF: Extended vision utils by two files two remove dependecy of cob_sensor_fusion from cob_camera_sensors
  • JSF: Added short documentation for camera drivers
  • JSF: Fixed problem with ToF viewer, added support for both color cameras
  • link libdc1394 to cob_camera_sensors library
  • renamed to general cob packages
  • record changes
  • modified play file, added kinect parameters
  • modified launch files
  • record acripts for kinect data
  • merge
  • changed name
  • calib position update
  • Merge branch 'review-320'
  • changed to PointXYZ
  • Contributors: Alexander Bubeck, COB3-Navigation, Georg, Georg Arbeiter, Jan Fischer, Richard Bormann, abubeck, b-it-bots, cob, cob3-1-pc2, cpc-pk, fmw-jk, goa, goa-uq, ipa-cob3-3, ipa-fmw, ipa-goa, ipa-goa-aa, ipa-jsf, ipa-mig, ipa-rmb, ipa-taj, ipa-uhr-fm, ipa320, unknown

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