cis_camera repository

Repository Summary

Checkout URI https://github.com/tork-a/cis_camera.git
VCS Type git
VCS Version master
Last Updated 2019-12-03
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
cis_camera 0.0.3

README

cis_camera Build Status

Quick Start

System Configurations

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

Installation

Installing ROS

Install "ROS Desktop Full" on Ubuntu PC.

Installation

$ 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

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

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.

Reference

CIS TOF Camera Specific Topics

Depth Image Topic

  • /camera/depth/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 640 px
    • Height : 480 px
    • Video Mode : gray16
    • Raw image topic with gray16 scale for depth data
  • /camera/depth/image_rect
  • /camera/depth/image_rect_raw

IR Image Topic

  • /camera/ir/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 640 px
    • Height : 480 px
    • Video Mode : gray16
    • Raw image topic with gray16 scale for IR image
  • /camera/ir/image_rect

RGB Image Topic

  • /camera/rgb/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 1280 px
    • Height : 960 px
    • Video Mode : bgr8
    • Raw image topic with bgr8 for RGB image
  • /camera/rgb/image_rect_color

Point Cloud Topic

  • /camera/depth/points
    • Type: sensor_msgs/PointCloud2
    • Publisher : /camera/camera_nodelet_manager

CIS TOF Camera Specific Parameters

depth_range

  • Depth Range
    • Range 0 : Distance min: 300 [mm] - Max: 6660 [mm]
    • Range 1 : Distance min: 150 [mm] - Max: 1500 [mm]
  • Value
    • Range 0 : 0
    • Range 1 : 1
  • Default : 0

threshold

  • Coring Threshold
    • Increasing the value will lower the background threshold.
  • Value
    • Maximum : 0x3FFF
    • Minimum : 0
  • Default : 0

nr_filter

  • Noise Reduction Filter ON/OFF
  • Value
    • NR Filter ON : 1
    • NR Filter OFF : 0
  • Default : 1

pulse_count

  • Number of light emitting pulses per frame
    • Increasing the value improves the distance measurement accuracy.
  • Value
    • Maximum : 2400
    • Minimum : 1
  • Default : 1200

ld_enable

  • Enable LEDs
    • LD1 ON : 0x0001
    • LD2 ON : 0x0002
  • Value
    • Maximum : 3
    • Minimum : 0
  • Default : 3

ir_gain

  • IR Gain
  • Value
    • Maximum : 2047
    • Minimum : 0
  • Default : 256

ae_mode

  • Auto exposure mode
  • Value
    • Manual : 0
    • Auto_Gain : 1
    • Auto_Shutter : 2
    • Auto_Full : 3
  • Default : 3

color_correction

  • Color correction Mode
  • Value
    • Off : 0
    • Standard : 1
  • Default : 0

brightness_gain

  • RGB brightness gain
  • Value
    • min : 1.0
    • Max : 10.67
  • Default : 1.0

exposure_time

  • RGB exposure time (shutter control)
  • Value
    • min : 0.00001
    • MAX : 0.01
  • Default : 0.01

How to Change Parameters

To change the parameters,

  • run rqt_reconfigure as mentioned above.
    • pointclodu.launch runs rqt_reconfigure by defalut.
  • add options descriptions like below when you execute a launch file.
$ roslaunch cis_camera pointcloud.launch nr_filter:=0 pulse_count:=1000

If you want to display the informations about parameters when launch files extecuted, use --screen option as below.

$ roslaunch cis_camera pointcloud.launch --screen

Launch Files

tof.launch

Nodes

$ rosnode list
/camera/camera_base_to_camera
/camera/camera_ir_to_camera_depth
/camera/camera_to_camera_color
/camera/camera_to_camera_ir
/camera/cistof
/rosout

Topics

$ rostopic list
/camera/camera_info
/camera/cistof/parameter_descriptions
/camera/cistof/parameter_updates
/camera/cistof/t1
/camera/cistof/t2
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/rosout
/rosout_agg
/tf

Parameters

$ rosparam list
/camera/cistof/ae_mode
/camera/cistof/b_gain
/camera/cistof/brightness_gain
/camera/cistof/camera_info_url
/camera/cistof/camera_info_url_color
/camera/cistof/camera_info_url_depth
/camera/cistof/camera_info_url_ir
/camera/cistof/color_correction
/camera/cistof/color_width
/camera/cistof/depth_range
/camera/cistof/exposure_time
/camera/cistof/frame_id
/camera/cistof/frame_id_color
/camera/cistof/frame_id_depth
/camera/cistof/frame_id_ir
/camera/cistof/frame_rate
/camera/cistof/g_gain
/camera/cistof/height
/camera/cistof/index
/camera/cistof/ir_cx
/camera/cistof/ir_cy
/camera/cistof/ir_dist_reconfig
/camera/cistof/ir_fx
/camera/cistof/ir_fy
/camera/cistof/ir_gain
/camera/cistof/ir_k1
/camera/cistof/ir_k2
/camera/cistof/ir_k3
/camera/cistof/ir_p1
/camera/cistof/ir_p2
/camera/cistof/ld_enable
/camera/cistof/nr_filter
/camera/cistof/product
/camera/cistof/pulse_count
/camera/cistof/r_gain
/camera/cistof/serial
/camera/cistof/threshold
/camera/cistof/timestamp_method
/camera/cistof/vendor
/camera/cistof/width
/camera/depth/image_raw/compressed/format
/camera/depth/image_raw/compressed/jpeg_quality
/camera/depth/image_raw/compressed/png_level
/camera/depth/image_raw/compressedDepth/depth_max
/camera/depth/image_raw/compressedDepth/depth_quantization
/camera/depth/image_raw/compressedDepth/png_level
/camera/depth/image_raw/theora/keyframe_frequency
/camera/depth/image_raw/theora/optimize_for
/camera/depth/image_raw/theora/quality
/camera/depth/image_raw/theora/target_bitrate
/camera/image_raw/compressed/format
/camera/image_raw/compressed/jpeg_quality
/camera/image_raw/compressed/png_level
/camera/image_raw/compressedDepth/depth_max
/camera/image_raw/compressedDepth/depth_quantization
/camera/image_raw/compressedDepth/png_level
/camera/image_raw/theora/keyframe_frequency
/camera/image_raw/theora/optimize_for
/camera/image_raw/theora/quality
/camera/image_raw/theora/target_bitrate
/camera/ir/image_raw/compressed/format
/camera/ir/image_raw/compressed/jpeg_quality
/camera/ir/image_raw/compressed/png_level
/camera/ir/image_raw/compressedDepth/depth_max
/camera/ir/image_raw/compressedDepth/depth_quantization
/camera/ir/image_raw/compressedDepth/png_level
/camera/ir/image_raw/theora/keyframe_frequency
/camera/ir/image_raw/theora/optimize_for
/camera/ir/image_raw/theora/quality
/camera/ir/image_raw/theora/target_bitrate
/camera/rgb/image_raw/compressed/format
/camera/rgb/image_raw/compressed/jpeg_quality
/camera/rgb/image_raw/compressed/png_level
/camera/rgb/image_raw/compressedDepth/depth_max
/camera/rgb/image_raw/compressedDepth/depth_quantization
/camera/rgb/image_raw/compressedDepth/png_level
/camera/rgb/image_raw/theora/keyframe_frequency
/camera/rgb/image_raw/theora/optimize_for
/camera/rgb/image_raw/theora/quality
/camera/rgb/image_raw/theora/target_bitrate
/rosdistro
/roslaunch/uris/host_robotuser_pc__44661
/rosversion
/run_id

pointcloud.launch

Nodes

$ rosnode list
/camera/camera_base_to_camera
/camera/camera_ir_to_camera_depth
/camera/camera_nodelet_manager
/camera/camera_to_camera_color
/camera/camera_to_camera_ir
/camera/cistof
/camera/depth_metric
/camera/depth_metric_rect
/camera/depth_points
/camera/depth_rectify_depth
/camera/ir_rectify_ir
/camera/rgb_debayer
/camera/rgb_rectify_color
/camera/rgb_rectify_mono
/map_to_camera_base
/rosout
/rqt_reconfigure
/rviz

Topics

robotuser@robotuser-PC:~/camera_ws$ rostopic list
/camera/camera_info
/camera/cistof/parameter_descriptions
/camera/cistof/parameter_updates
/camera/cistof/t1
/camera/cistof/t2
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/ir/image_rect_ir
/camera/ir/image_rect_ir/compressed
/camera/ir/image_rect_ir/compressed/parameter_descriptions
/camera/ir/image_rect_ir/compressed/parameter_updates
/camera/ir/image_rect_ir/compressedDepth
/camera/ir/image_rect_ir/compressedDepth/parameter_descriptions
/camera/ir/image_rect_ir/compressedDepth/parameter_updates
/camera/ir/image_rect_ir/theora
/camera/ir/image_rect_ir/theora/parameter_descriptions
/camera/ir/image_rect_ir/theora/parameter_updates
/camera/ir_rectify_ir/parameter_descriptions
/camera/ir_rectify_ir/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_color
/camera/rgb/image_color/compressed
/camera/rgb/image_color/compressed/parameter_descriptions
/camera/rgb/image_color/compressed/parameter_updates
/camera/rgb/image_color/compressedDepth
/camera/rgb/image_color/compressedDepth/parameter_descriptions
/camera/rgb/image_color/compressedDepth/parameter_updates
/camera/rgb/image_color/theora
/camera/rgb/image_color/theora/parameter_descriptions
/camera/rgb/image_color/theora/parameter_updates
/camera/rgb/image_mono
/camera/rgb/image_mono/compressed
/camera/rgb/image_mono/compressed/parameter_descriptions
/camera/rgb/image_mono/compressed/parameter_updates
/camera/rgb/image_mono/compressedDepth
/camera/rgb/image_mono/compressedDepth/parameter_descriptions
/camera/rgb/image_mono/compressedDepth/parameter_updates
/camera/rgb/image_mono/theora
/camera/rgb/image_mono/theora/parameter_descriptions
/camera/rgb/image_mono/theora/parameter_updates
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb/image_rect_mono
/camera/rgb/image_rect_mono/compressed
/camera/rgb/image_rect_mono/compressed/parameter_descriptions
/camera/rgb/image_rect_mono/compressed/parameter_updates
/camera/rgb/image_rect_mono/compressedDepth
/camera/rgb/image_rect_mono/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_mono/compressedDepth/parameter_updates
/camera/rgb/image_rect_mono/theora
/camera/rgb/image_rect_mono/theora/parameter_descriptions
/camera/rgb/image_rect_mono/theora/parameter_updates
/camera/rgb_debayer/parameter_descriptions
/camera/rgb_debayer/parameter_updates
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/camera/rgb_rectify_mono/parameter_descriptions
/camera/rgb_rectify_mono/parameter_updates
/clicked_point
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

Parameters

$ rosparam list
/camera/camera_nodelet_manager/num_worker_threads
/camera/cistof/ae_mode
/camera/cistof/b_gain
/camera/cistof/brightness_gain
/camera/cistof/camera_info_url
/camera/cistof/camera_info_url_color
/camera/cistof/camera_info_url_depth
/camera/cistof/camera_info_url_ir
/camera/cistof/color_correction
/camera/cistof/color_width
/camera/cistof/depth_range
/camera/cistof/exposure_time
/camera/cistof/frame_id
/camera/cistof/frame_id_color
/camera/cistof/frame_id_depth
/camera/cistof/frame_id_ir
/camera/cistof/frame_rate
/camera/cistof/g_gain
/camera/cistof/height
/camera/cistof/index
/camera/cistof/ir_cx
/camera/cistof/ir_cy
/camera/cistof/ir_dist_reconfig
/camera/cistof/ir_fx
/camera/cistof/ir_fy
/camera/cistof/ir_gain
/camera/cistof/ir_k1
/camera/cistof/ir_k2
/camera/cistof/ir_k3
/camera/cistof/ir_p1
/camera/cistof/ir_p2
/camera/cistof/ld_enable
/camera/cistof/nr_filter
/camera/cistof/product
/camera/cistof/pulse_count
/camera/cistof/r_gain
/camera/cistof/serial
/camera/cistof/threshold
/camera/cistof/timestamp_method
/camera/cistof/vendor
/camera/cistof/width
/camera/depth/image/compressed/format
/camera/depth/image/compressed/jpeg_quality
/camera/depth/image/compressed/png_level
/camera/depth/image/compressedDepth/depth_max
/camera/depth/image/compressedDepth/depth_quantization
/camera/depth/image/compressedDepth/png_level
/camera/depth/image/theora/keyframe_frequency
/camera/depth/image/theora/optimize_for
/camera/depth/image/theora/quality
/camera/depth/image/theora/target_bitrate
/camera/depth/image_raw/compressed/format
/camera/depth/image_raw/compressed/jpeg_quality
/camera/depth/image_raw/compressed/png_level
/camera/depth/image_raw/compressedDepth/depth_max
/camera/depth/image_raw/compressedDepth/depth_quantization
/camera/depth/image_raw/compressedDepth/png_level
/camera/depth/image_raw/theora/keyframe_frequency
/camera/depth/image_raw/theora/optimize_for
/camera/depth/image_raw/theora/quality
/camera/depth/image_raw/theora/target_bitrate
/camera/depth/image_rect/compressed/format
/camera/depth/image_rect/compressed/jpeg_quality
/camera/depth/image_rect/compressed/png_level
/camera/depth/image_rect/compressedDepth/depth_max
/camera/depth/image_rect/compressedDepth/depth_quantization
/camera/depth/image_rect/compressedDepth/png_level
/camera/depth/image_rect/theora/keyframe_frequency
/camera/depth/image_rect/theora/optimize_for
/camera/depth/image_rect/theora/quality
/camera/depth/image_rect/theora/target_bitrate
/camera/depth/image_rect_raw/compressed/format
/camera/depth/image_rect_raw/compressed/jpeg_quality
/camera/depth/image_rect_raw/compressed/png_level
/camera/depth/image_rect_raw/compressedDepth/depth_max
/camera/depth/image_rect_raw/compressedDepth/depth_quantization
/camera/depth/image_rect_raw/compressedDepth/png_level
/camera/depth/image_rect_raw/theora/keyframe_frequency
/camera/depth/image_rect_raw/theora/optimize_for
/camera/depth/image_rect_raw/theora/quality
/camera/depth/image_rect_raw/theora/target_bitrate
/camera/depth_rectify_depth/interpolation
/camera/image_raw/compressed/format
/camera/image_raw/compressed/jpeg_quality
/camera/image_raw/compressed/png_level
/camera/image_raw/compressedDepth/depth_max
/camera/image_raw/compressedDepth/depth_quantization
/camera/image_raw/compressedDepth/png_level
/camera/image_raw/theora/keyframe_frequency
/camera/image_raw/theora/optimize_for
/camera/image_raw/theora/quality
/camera/image_raw/theora/target_bitrate
/camera/ir/image_raw/compressed/format
/camera/ir/image_raw/compressed/jpeg_quality
/camera/ir/image_raw/compressed/png_level
/camera/ir/image_raw/compressedDepth/depth_max
/camera/ir/image_raw/compressedDepth/depth_quantization
/camera/ir/image_raw/compressedDepth/png_level
/camera/ir/image_raw/theora/keyframe_frequency
/camera/ir/image_raw/theora/optimize_for
/camera/ir/image_raw/theora/quality
/camera/ir/image_raw/theora/target_bitrate
/camera/ir/image_rect_ir/compressed/format
/camera/ir/image_rect_ir/compressed/jpeg_quality
/camera/ir/image_rect_ir/compressed/png_level
/camera/ir/image_rect_ir/compressedDepth/depth_max
/camera/ir/image_rect_ir/compressedDepth/depth_quantization
/camera/ir/image_rect_ir/compressedDepth/png_level
/camera/ir/image_rect_ir/theora/keyframe_frequency
/camera/ir/image_rect_ir/theora/optimize_for
/camera/ir/image_rect_ir/theora/quality
/camera/ir/image_rect_ir/theora/target_bitrate
/camera/ir_rectify_ir/interpolation
/camera/rgb/image_color/compressed/format
/camera/rgb/image_color/compressed/jpeg_quality
/camera/rgb/image_color/compressed/png_level
/camera/rgb/image_color/compressedDepth/depth_max
/camera/rgb/image_color/compressedDepth/depth_quantization
/camera/rgb/image_color/compressedDepth/png_level
/camera/rgb/image_color/theora/keyframe_frequency
/camera/rgb/image_color/theora/optimize_for
/camera/rgb/image_color/theora/quality
/camera/rgb/image_color/theora/target_bitrate
/camera/rgb/image_mono/compressed/format
/camera/rgb/image_mono/compressed/jpeg_quality
/camera/rgb/image_mono/compressed/png_level
/camera/rgb/image_mono/compressedDepth/depth_max
/camera/rgb/image_mono/compressedDepth/depth_quantization
/camera/rgb/image_mono/compressedDepth/png_level
/camera/rgb/image_mono/theora/keyframe_frequency
/camera/rgb/image_mono/theora/optimize_for
/camera/rgb/image_mono/theora/quality
/camera/rgb/image_mono/theora/target_bitrate
/camera/rgb/image_raw/compressed/format
/camera/rgb/image_raw/compressed/jpeg_quality
/camera/rgb/image_raw/compressed/png_level
/camera/rgb/image_raw/compressedDepth/depth_max
/camera/rgb/image_raw/compressedDepth/depth_quantization
/camera/rgb/image_raw/compressedDepth/png_level
/camera/rgb/image_raw/theora/keyframe_frequency
/camera/rgb/image_raw/theora/optimize_for
/camera/rgb/image_raw/theora/quality
/camera/rgb/image_raw/theora/target_bitrate
/camera/rgb/image_rect_color/compressed/format
/camera/rgb/image_rect_color/compressed/jpeg_quality
/camera/rgb/image_rect_color/compressed/png_level
/camera/rgb/image_rect_color/compressedDepth/depth_max
/camera/rgb/image_rect_color/compressedDepth/depth_quantization
/camera/rgb/image_rect_color/compressedDepth/png_level
/camera/rgb/image_rect_color/theora/keyframe_frequency
/camera/rgb/image_rect_color/theora/optimize_for
/camera/rgb/image_rect_color/theora/quality
/camera/rgb/image_rect_color/theora/target_bitrate
/camera/rgb/image_rect_mono/compressed/format
/camera/rgb/image_rect_mono/compressed/jpeg_quality
/camera/rgb/image_rect_mono/compressed/png_level
/camera/rgb/image_rect_mono/compressedDepth/depth_max
/camera/rgb/image_rect_mono/compressedDepth/depth_quantization
/camera/rgb/image_rect_mono/compressedDepth/png_level
/camera/rgb/image_rect_mono/theora/keyframe_frequency
/camera/rgb/image_rect_mono/theora/optimize_for
/camera/rgb/image_rect_mono/theora/quality
/camera/rgb/image_rect_mono/theora/target_bitrate
/camera/rgb_debayer/debayer
/camera/rgb_rectify_color/interpolation
/camera/rgb_rectify_mono/interpolation
/rosdistro
/roslaunch/uris/host_robotuser_pc__36077
/rosversion
/run_id

Repository Summary

Checkout URI https://github.com/tork-a/cis_camera.git
VCS Type git
VCS Version master
Last Updated 2019-12-03
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
cis_camera 0.0.3

README

cis_camera Build Status

Quick Start

System Configurations

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

Installation

Installing ROS

Install "ROS Desktop Full" on Ubuntu PC.

Installation

$ 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

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

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.

Reference

CIS TOF Camera Specific Topics

Depth Image Topic

  • /camera/depth/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 640 px
    • Height : 480 px
    • Video Mode : gray16
    • Raw image topic with gray16 scale for depth data
  • /camera/depth/image_rect
  • /camera/depth/image_rect_raw

IR Image Topic

  • /camera/ir/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 640 px
    • Height : 480 px
    • Video Mode : gray16
    • Raw image topic with gray16 scale for IR image
  • /camera/ir/image_rect

RGB Image Topic

  • /camera/rgb/image_raw
    • Type : sensor_msgs/Image
    • Publisher : /camera/cistof
    • Default
    • Width : 1280 px
    • Height : 960 px
    • Video Mode : bgr8
    • Raw image topic with bgr8 for RGB image
  • /camera/rgb/image_rect_color

Point Cloud Topic

  • /camera/depth/points
    • Type: sensor_msgs/PointCloud2
    • Publisher : /camera/camera_nodelet_manager

CIS TOF Camera Specific Parameters

depth_range

  • Depth Range
    • Range 0 : Distance min: 300 [mm] - Max: 6660 [mm]
    • Range 1 : Distance min: 150 [mm] - Max: 1500 [mm]
  • Value
    • Range 0 : 0
    • Range 1 : 1
  • Default : 0

threshold

  • Coring Threshold
    • Increasing the value will lower the background threshold.
  • Value
    • Maximum : 0x3FFF
    • Minimum : 0
  • Default : 0

nr_filter

  • Noise Reduction Filter ON/OFF
  • Value
    • NR Filter ON : 1
    • NR Filter OFF : 0
  • Default : 1

pulse_count

  • Number of light emitting pulses per frame
    • Increasing the value improves the distance measurement accuracy.
  • Value
    • Maximum : 2400
    • Minimum : 1
  • Default : 1200

ld_enable

  • Enable LEDs
    • LD1 ON : 0x0001
    • LD2 ON : 0x0002
  • Value
    • Maximum : 3
    • Minimum : 0
  • Default : 3

ir_gain

  • IR Gain
  • Value
    • Maximum : 2047
    • Minimum : 0
  • Default : 256

ae_mode

  • Auto exposure mode
  • Value
    • Manual : 0
    • Auto_Gain : 1
    • Auto_Shutter : 2
    • Auto_Full : 3
  • Default : 3

color_correction

  • Color correction Mode
  • Value
    • Off : 0
    • Standard : 1
  • Default : 0

brightness_gain

  • RGB brightness gain
  • Value
    • min : 1.0
    • Max : 10.67
  • Default : 1.0

exposure_time

  • RGB exposure time (shutter control)
  • Value
    • min : 0.00001
    • MAX : 0.01
  • Default : 0.01

How to Change Parameters

To change the parameters,

  • run rqt_reconfigure as mentioned above.
    • pointclodu.launch runs rqt_reconfigure by defalut.
  • add options descriptions like below when you execute a launch file.
$ roslaunch cis_camera pointcloud.launch nr_filter:=0 pulse_count:=1000

If you want to display the informations about parameters when launch files extecuted, use --screen option as below.

$ roslaunch cis_camera pointcloud.launch --screen

Launch Files

tof.launch

Nodes

$ rosnode list
/camera/camera_base_to_camera
/camera/camera_ir_to_camera_depth
/camera/camera_to_camera_color
/camera/camera_to_camera_ir
/camera/cistof
/rosout

Topics

$ rostopic list
/camera/camera_info
/camera/cistof/parameter_descriptions
/camera/cistof/parameter_updates
/camera/cistof/t1
/camera/cistof/t2
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/rosout
/rosout_agg
/tf

Parameters

$ rosparam list
/camera/cistof/ae_mode
/camera/cistof/b_gain
/camera/cistof/brightness_gain
/camera/cistof/camera_info_url
/camera/cistof/camera_info_url_color
/camera/cistof/camera_info_url_depth
/camera/cistof/camera_info_url_ir
/camera/cistof/color_correction
/camera/cistof/color_width
/camera/cistof/depth_range
/camera/cistof/exposure_time
/camera/cistof/frame_id
/camera/cistof/frame_id_color
/camera/cistof/frame_id_depth
/camera/cistof/frame_id_ir
/camera/cistof/frame_rate
/camera/cistof/g_gain
/camera/cistof/height
/camera/cistof/index
/camera/cistof/ir_cx
/camera/cistof/ir_cy
/camera/cistof/ir_dist_reconfig
/camera/cistof/ir_fx
/camera/cistof/ir_fy
/camera/cistof/ir_gain
/camera/cistof/ir_k1
/camera/cistof/ir_k2
/camera/cistof/ir_k3
/camera/cistof/ir_p1
/camera/cistof/ir_p2
/camera/cistof/ld_enable
/camera/cistof/nr_filter
/camera/cistof/product
/camera/cistof/pulse_count
/camera/cistof/r_gain
/camera/cistof/serial
/camera/cistof/threshold
/camera/cistof/timestamp_method
/camera/cistof/vendor
/camera/cistof/width
/camera/depth/image_raw/compressed/format
/camera/depth/image_raw/compressed/jpeg_quality
/camera/depth/image_raw/compressed/png_level
/camera/depth/image_raw/compressedDepth/depth_max
/camera/depth/image_raw/compressedDepth/depth_quantization
/camera/depth/image_raw/compressedDepth/png_level
/camera/depth/image_raw/theora/keyframe_frequency
/camera/depth/image_raw/theora/optimize_for
/camera/depth/image_raw/theora/quality
/camera/depth/image_raw/theora/target_bitrate
/camera/image_raw/compressed/format
/camera/image_raw/compressed/jpeg_quality
/camera/image_raw/compressed/png_level
/camera/image_raw/compressedDepth/depth_max
/camera/image_raw/compressedDepth/depth_quantization
/camera/image_raw/compressedDepth/png_level
/camera/image_raw/theora/keyframe_frequency
/camera/image_raw/theora/optimize_for
/camera/image_raw/theora/quality
/camera/image_raw/theora/target_bitrate
/camera/ir/image_raw/compressed/format
/camera/ir/image_raw/compressed/jpeg_quality
/camera/ir/image_raw/compressed/png_level
/camera/ir/image_raw/compressedDepth/depth_max
/camera/ir/image_raw/compressedDepth/depth_quantization
/camera/ir/image_raw/compressedDepth/png_level
/camera/ir/image_raw/theora/keyframe_frequency
/camera/ir/image_raw/theora/optimize_for
/camera/ir/image_raw/theora/quality
/camera/ir/image_raw/theora/target_bitrate
/camera/rgb/image_raw/compressed/format
/camera/rgb/image_raw/compressed/jpeg_quality
/camera/rgb/image_raw/compressed/png_level
/camera/rgb/image_raw/compressedDepth/depth_max
/camera/rgb/image_raw/compressedDepth/depth_quantization
/camera/rgb/image_raw/compressedDepth/png_level
/camera/rgb/image_raw/theora/keyframe_frequency
/camera/rgb/image_raw/theora/optimize_for
/camera/rgb/image_raw/theora/quality
/camera/rgb/image_raw/theora/target_bitrate
/rosdistro
/roslaunch/uris/host_robotuser_pc__44661
/rosversion
/run_id

pointcloud.launch

Nodes

$ rosnode list
/camera/camera_base_to_camera
/camera/camera_ir_to_camera_depth
/camera/camera_nodelet_manager
/camera/camera_to_camera_color
/camera/camera_to_camera_ir
/camera/cistof
/camera/depth_metric
/camera/depth_metric_rect
/camera/depth_points
/camera/depth_rectify_depth
/camera/ir_rectify_ir
/camera/rgb_debayer
/camera/rgb_rectify_color
/camera/rgb_rectify_mono
/map_to_camera_base
/rosout
/rqt_reconfigure
/rviz

Topics

robotuser@robotuser-PC:~/camera_ws$ rostopic list
/camera/camera_info
/camera/cistof/parameter_descriptions
/camera/cistof/parameter_updates
/camera/cistof/t1
/camera/cistof/t2
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/ir/image_rect_ir
/camera/ir/image_rect_ir/compressed
/camera/ir/image_rect_ir/compressed/parameter_descriptions
/camera/ir/image_rect_ir/compressed/parameter_updates
/camera/ir/image_rect_ir/compressedDepth
/camera/ir/image_rect_ir/compressedDepth/parameter_descriptions
/camera/ir/image_rect_ir/compressedDepth/parameter_updates
/camera/ir/image_rect_ir/theora
/camera/ir/image_rect_ir/theora/parameter_descriptions
/camera/ir/image_rect_ir/theora/parameter_updates
/camera/ir_rectify_ir/parameter_descriptions
/camera/ir_rectify_ir/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_color
/camera/rgb/image_color/compressed
/camera/rgb/image_color/compressed/parameter_descriptions
/camera/rgb/image_color/compressed/parameter_updates
/camera/rgb/image_color/compressedDepth
/camera/rgb/image_color/compressedDepth/parameter_descriptions
/camera/rgb/image_color/compressedDepth/parameter_updates
/camera/rgb/image_color/theora
/camera/rgb/image_color/theora/parameter_descriptions
/camera/rgb/image_color/theora/parameter_updates
/camera/rgb/image_mono
/camera/rgb/image_mono/compressed
/camera/rgb/image_mono/compressed/parameter_descriptions
/camera/rgb/image_mono/compressed/parameter_updates
/camera/rgb/image_mono/compressedDepth
/camera/rgb/image_mono/compressedDepth/parameter_descriptions
/camera/rgb/image_mono/compressedDepth/parameter_updates
/camera/rgb/image_mono/theora
/camera/rgb/image_mono/theora/parameter_descriptions
/camera/rgb/image_mono/theora/parameter_updates
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb/image_rect_mono
/camera/rgb/image_rect_mono/compressed
/camera/rgb/image_rect_mono/compressed/parameter_descriptions
/camera/rgb/image_rect_mono/compressed/parameter_updates
/camera/rgb/image_rect_mono/compressedDepth
/camera/rgb/image_rect_mono/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_mono/compressedDepth/parameter_updates
/camera/rgb/image_rect_mono/theora
/camera/rgb/image_rect_mono/theora/parameter_descriptions
/camera/rgb/image_rect_mono/theora/parameter_updates
/camera/rgb_debayer/parameter_descriptions
/camera/rgb_debayer/parameter_updates
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/camera/rgb_rectify_mono/parameter_descriptions
/camera/rgb_rectify_mono/parameter_updates
/clicked_point
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

Parameters

$ rosparam list
/camera/camera_nodelet_manager/num_worker_threads
/camera/cistof/ae_mode
/camera/cistof/b_gain
/camera/cistof/brightness_gain
/camera/cistof/camera_info_url
/camera/cistof/camera_info_url_color
/camera/cistof/camera_info_url_depth
/camera/cistof/camera_info_url_ir
/camera/cistof/color_correction
/camera/cistof/color_width
/camera/cistof/depth_range
/camera/cistof/exposure_time
/camera/cistof/frame_id
/camera/cistof/frame_id_color
/camera/cistof/frame_id_depth
/camera/cistof/frame_id_ir
/camera/cistof/frame_rate
/camera/cistof/g_gain
/camera/cistof/height
/camera/cistof/index
/camera/cistof/ir_cx
/camera/cistof/ir_cy
/camera/cistof/ir_dist_reconfig
/camera/cistof/ir_fx
/camera/cistof/ir_fy
/camera/cistof/ir_gain
/camera/cistof/ir_k1
/camera/cistof/ir_k2
/camera/cistof/ir_k3
/camera/cistof/ir_p1
/camera/cistof/ir_p2
/camera/cistof/ld_enable
/camera/cistof/nr_filter
/camera/cistof/product
/camera/cistof/pulse_count
/camera/cistof/r_gain
/camera/cistof/serial
/camera/cistof/threshold
/camera/cistof/timestamp_method
/camera/cistof/vendor
/camera/cistof/width
/camera/depth/image/compressed/format
/camera/depth/image/compressed/jpeg_quality
/camera/depth/image/compressed/png_level
/camera/depth/image/compressedDepth/depth_max
/camera/depth/image/compressedDepth/depth_quantization
/camera/depth/image/compressedDepth/png_level
/camera/depth/image/theora/keyframe_frequency
/camera/depth/image/theora/optimize_for
/camera/depth/image/theora/quality
/camera/depth/image/theora/target_bitrate
/camera/depth/image_raw/compressed/format
/camera/depth/image_raw/compressed/jpeg_quality
/camera/depth/image_raw/compressed/png_level
/camera/depth/image_raw/compressedDepth/depth_max
/camera/depth/image_raw/compressedDepth/depth_quantization
/camera/depth/image_raw/compressedDepth/png_level
/camera/depth/image_raw/theora/keyframe_frequency
/camera/depth/image_raw/theora/optimize_for
/camera/depth/image_raw/theora/quality
/camera/depth/image_raw/theora/target_bitrate
/camera/depth/image_rect/compressed/format
/camera/depth/image_rect/compressed/jpeg_quality
/camera/depth/image_rect/compressed/png_level
/camera/depth/image_rect/compressedDepth/depth_max
/camera/depth/image_rect/compressedDepth/depth_quantization
/camera/depth/image_rect/compressedDepth/png_level
/camera/depth/image_rect/theora/keyframe_frequency
/camera/depth/image_rect/theora/optimize_for
/camera/depth/image_rect/theora/quality
/camera/depth/image_rect/theora/target_bitrate
/camera/depth/image_rect_raw/compressed/format
/camera/depth/image_rect_raw/compressed/jpeg_quality
/camera/depth/image_rect_raw/compressed/png_level
/camera/depth/image_rect_raw/compressedDepth/depth_max
/camera/depth/image_rect_raw/compressedDepth/depth_quantization
/camera/depth/image_rect_raw/compressedDepth/png_level
/camera/depth/image_rect_raw/theora/keyframe_frequency
/camera/depth/image_rect_raw/theora/optimize_for
/camera/depth/image_rect_raw/theora/quality
/camera/depth/image_rect_raw/theora/target_bitrate
/camera/depth_rectify_depth/interpolation
/camera/image_raw/compressed/format
/camera/image_raw/compressed/jpeg_quality
/camera/image_raw/compressed/png_level
/camera/image_raw/compressedDepth/depth_max
/camera/image_raw/compressedDepth/depth_quantization
/camera/image_raw/compressedDepth/png_level
/camera/image_raw/theora/keyframe_frequency
/camera/image_raw/theora/optimize_for
/camera/image_raw/theora/quality
/camera/image_raw/theora/target_bitrate
/camera/ir/image_raw/compressed/format
/camera/ir/image_raw/compressed/jpeg_quality
/camera/ir/image_raw/compressed/png_level
/camera/ir/image_raw/compressedDepth/depth_max
/camera/ir/image_raw/compressedDepth/depth_quantization
/camera/ir/image_raw/compressedDepth/png_level
/camera/ir/image_raw/theora/keyframe_frequency
/camera/ir/image_raw/theora/optimize_for
/camera/ir/image_raw/theora/quality
/camera/ir/image_raw/theora/target_bitrate
/camera/ir/image_rect_ir/compressed/format
/camera/ir/image_rect_ir/compressed/jpeg_quality
/camera/ir/image_rect_ir/compressed/png_level
/camera/ir/image_rect_ir/compressedDepth/depth_max
/camera/ir/image_rect_ir/compressedDepth/depth_quantization
/camera/ir/image_rect_ir/compressedDepth/png_level
/camera/ir/image_rect_ir/theora/keyframe_frequency
/camera/ir/image_rect_ir/theora/optimize_for
/camera/ir/image_rect_ir/theora/quality
/camera/ir/image_rect_ir/theora/target_bitrate
/camera/ir_rectify_ir/interpolation
/camera/rgb/image_color/compressed/format
/camera/rgb/image_color/compressed/jpeg_quality
/camera/rgb/image_color/compressed/png_level
/camera/rgb/image_color/compressedDepth/depth_max
/camera/rgb/image_color/compressedDepth/depth_quantization
/camera/rgb/image_color/compressedDepth/png_level
/camera/rgb/image_color/theora/keyframe_frequency
/camera/rgb/image_color/theora/optimize_for
/camera/rgb/image_color/theora/quality
/camera/rgb/image_color/theora/target_bitrate
/camera/rgb/image_mono/compressed/format
/camera/rgb/image_mono/compressed/jpeg_quality
/camera/rgb/image_mono/compressed/png_level
/camera/rgb/image_mono/compressedDepth/depth_max
/camera/rgb/image_mono/compressedDepth/depth_quantization
/camera/rgb/image_mono/compressedDepth/png_level
/camera/rgb/image_mono/theora/keyframe_frequency
/camera/rgb/image_mono/theora/optimize_for
/camera/rgb/image_mono/theora/quality
/camera/rgb/image_mono/theora/target_bitrate
/camera/rgb/image_raw/compressed/format
/camera/rgb/image_raw/compressed/jpeg_quality
/camera/rgb/image_raw/compressed/png_level
/camera/rgb/image_raw/compressedDepth/depth_max
/camera/rgb/image_raw/compressedDepth/depth_quantization
/camera/rgb/image_raw/compressedDepth/png_level
/camera/rgb/image_raw/theora/keyframe_frequency
/camera/rgb/image_raw/theora/optimize_for
/camera/rgb/image_raw/theora/quality
/camera/rgb/image_raw/theora/target_bitrate
/camera/rgb/image_rect_color/compressed/format
/camera/rgb/image_rect_color/compressed/jpeg_quality
/camera/rgb/image_rect_color/compressed/png_level
/camera/rgb/image_rect_color/compressedDepth/depth_max
/camera/rgb/image_rect_color/compressedDepth/depth_quantization
/camera/rgb/image_rect_color/compressedDepth/png_level
/camera/rgb/image_rect_color/theora/keyframe_frequency
/camera/rgb/image_rect_color/theora/optimize_for
/camera/rgb/image_rect_color/theora/quality
/camera/rgb/image_rect_color/theora/target_bitrate
/camera/rgb/image_rect_mono/compressed/format
/camera/rgb/image_rect_mono/compressed/jpeg_quality
/camera/rgb/image_rect_mono/compressed/png_level
/camera/rgb/image_rect_mono/compressedDepth/depth_max
/camera/rgb/image_rect_mono/compressedDepth/depth_quantization
/camera/rgb/image_rect_mono/compressedDepth/png_level
/camera/rgb/image_rect_mono/theora/keyframe_frequency
/camera/rgb/image_rect_mono/theora/optimize_for
/camera/rgb/image_rect_mono/theora/quality
/camera/rgb/image_rect_mono/theora/target_bitrate
/camera/rgb_debayer/debayer
/camera/rgb_rectify_color/interpolation
/camera/rgb_rectify_mono/interpolation
/rosdistro
/roslaunch/uris/host_robotuser_pc__36077
/rosversion
/run_id