PlayStation4 stereo camera package for ROS

WARNING

• This package is experimental and not completed.
• You need to hack (cut and solder) the PS4 camera’s cable. It may damage your device. Do it at your own risk.
• The PS4 camera is USB 3.0 only and is not compatible with USB 2.0 systems.

Requirements

• You need a ps4eye camera PlayStation Camera CUH-ZEY1J

• You need to hack the cable. See PS4eye.

• You may need newer linux kernel. Kernel version 3.17.3 is OK. 3.16.0 is NG.

  If you are using ubuntu, please check this page to update kernel

• You’ll need Pyusb 1.0 or the script executed in the udev rules will silently fail. sudo pip install –pre pyusb

Usage

1. Run create_udev_rules. Enter sudo password to place /etc/udev/rules.d/91-ps4eye.rules. You need this step only once.

$ rosrun ps4eye create_udev_rules

1. Plug your ps4eye to USB 3.0 port.

2. Check if you can obtain the image from ps4 camera by webcam software (cheese, camorama, etc).

3. Run stereo.launch. DEVICE option is used specify video device. You can bring up stereo viewer if viewer option is true.

$ roslaunch ps4eye stereo.launch DEVICE:=/dev/video0 viewer:=true

1. If you want to run the viewer individually, use this command.

$ rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color

1. Now you can see disparity image from the stereo camera. Done!

About ps4eye folder’s contents

ps4eye folder contains files:

• script/firmware.bin
• script/ps4eye_init.py

Both files are originally from ps4eye project: https://github.com/ps4eye. Source code and binary are downloadable from there. This package include the two files only for convinience.

ps4eye_init.py is from hyaguchijsk’s branch: https://github.com/hyaguchijsk/ps4eye/tree/use_full_path_to_load_firmware to make it easy to call from ROS system.

Thanks

Thanks for the incredible ps4 camera hackers.

• PS4eye PlayStation 4 camera hacking
• ps4eye github repo
• PS4Eye をハイフレームレートステレオカメラとして使う

Changelog for package ps4eye

0.0.4 (2015-03-30)

• Fix create_udev_rules option. Change README.md.
• Add udev install script.
• Automatically loading firmware.
• all need is to run create_udev_rules script.
• add viewer argment to stereo.launch. Set true to bring up stereo viewer.
• Add ps4eye/ps4eye files and update README.md contents.
• using to nodelet manager name
• use gscam nodelet instead of gscam node
• use load_driver, instead of setting DEVICE false to check use real camera
• Contributors: Hiroaki Yaguchi, Ron Tajima

0.0.3 (2015-03-16)

• Merge pull request #9 from hyaguchijsk/bagfile_player_mode Bagfile player mode
• if DEVICE is false, gscam does not run, to use bag file including /camera/{image_raw,camera_info}
• add arg PUBLISH_TF, if false static_transform_publisher will not run.
• Merge pull request #8 from hyaguchijsk/using_nodelet_for_stereo_image_proc Great! change stereo_image_proc from node to nodelet
• change stereo_image_proc from node to nodelet
• Merge pull request #7 from hyaguchijsk/add_camera_info_file_left_and_right_args add arguments camera_info_file{left,right} to set calib files when incl...
• add arguments camera_info_file{left,right} to set calib files when including stereo.launch
• 0.0.2
• Merge pull request #5 from k-okada/add_init update CHANGELOG
• update CHANGELOG
• Merge pull request #4 from k-okada/use_param_for_camera_info_yaml use param to set camera_info
• Merge pull request #2 from k-okada/for_release update for release
• Merge pull request #1 from k-okada/patch-1 Update README.md
• Merge pull request #3 from k-okada/add_arg_in_launch add arg for camera_info and camera_transformation
• use param to set camera_info
• add run_depends
• add arg for camera_info and camera_transformation
• add install rule
• add license and author
• Update README.md ps4eys_init は ps4_init.py ??? -> https://github.com/ps4eye/ps4eye/tree/master/python
• Contributors: Hiroaki Yaguchi, Kei Okada, Ron Tajima

0.0.2 (2015-01-08)

• use param to set camera_info
• add run_depends
• add arg for camera_info and camera_transformation
• add install rule
• add license and author
• Update README.md (ps4eys_init is ps4_init.py)
• Contributors: Kei Okada, Ron Tajima

0.0.1 (2014-12-28)

• I found kenel 3.16 does not detect ps4eye, update document
• Update README.md
• change to use rospack.find to locate camera_info.
• Merge branch 'camera_config'
• add camera_info to camera_info directory.
• add README. add stereo_image_proc to launch file.
• add ps4eye: Playstation4 stereo camera launching set for ROS.
• Contributors: Ron Tajima, Ryohei Ueda,