- Abdelhamid El-Bably (University of Waterloo) [email@example.com]
- Arun Das (University of Waterloo) [firstname.lastname@example.org]
- Michael Tribou (University of Waterloo) [email@example.com]
All rights reserved.
This software is distributed under the BSD three-clause license.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the University of Waterloo nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL
This software requires the Ximea Linux Software Package. See http://www.ximea.com/support/wiki/apis/XIMEA_Linux_Software_Package for details.
3) Basic Usage
This software provides ROS drivers for the ximea xiQ USB 3.0 Cameras. This driver supports image acquisition from an arbitrary number of cameras, so long as there is sufficient bandwidth on the USB 3.0 bus to perform the data transfer. In order to operate the cameras, the serial numbers of the devices must be known.
1) create a configuration file for each camera. The configuration file should be kept in the
/config folder. A configuration file will look as follows:
serial_no: 32301951 cam_name: "camera1" yaml_url: "package://mcptam/calibrations/camera1.yaml" exposure_time: 30000 rect_left: 200 rect_top: 200 rect_height: 600 rect_width: 900 image_data_format: "XI_MONO8"
serial_norefers to the serial number of the camera
cam_nameis the name you wish to give to the camera
yaml_urlis the location of the calibration information file, which is used by the camera info manager to publish the calibration parameters
exposure_timerefers to the image exposure time in microseconds
rect_left, rect_top, rect_height, rect_widthare used to set the image region of interest (ROI). See the Ximea xiQ API for more information (http://www.ximea.com/support/wiki/apis/XiAPI_Manual).
image_data_format: sets the data format for the image. Currently, formats
2) Create a launch file for your camera configuration. A typical launch file will look as follows:
<launch> <!-- Camera Node --> <node name="ximea" pkg="ximea_camera" type="ximea_camera_node" output="screen" > <param name="frame_rate" type="int" value="60" /> <rosparam param="camera_param_file_paths" subst_value="true">[$(find ximea_camera)/config/ximea1.yaml, $(find ximea_camera)/config/ximea2.yaml]</rosparam> </node> </launch>
The main parameters of interest are the frame rate and the file paths.
frame_ratecorresponds to the frame rate for all of the cameras in the group.
camera_param_file_pathsis a list of file names corresponding to the configuration files made for each camera in step 1. For a single camera setup, the
camera_param_file_pathsparameter would look something like:
<rosparam param="camera_param_file_paths" subst_value="true">[$(find ximea_camera)/config/ximea1.yaml]</rosparam>
while a three camera setup would have a list containing the file names for the configuration files of all three cameras, separated by commas:
<rosparam param="camera_param_file_paths" subst_value="true">[$(find ximea_camera)/config/ximea1.yaml, $(find ximea_camera)/config/ximea2.yaml, $(find ximea_camera)/config/ximea3.yaml]</rosparam>
3) You should now be able to plug in the cameras and launch the file created in step 2.
4) Published Topics
Each set of published topics will be under the namespace corresponding to the camera name. Each camera will publish:
/camera_info, which is of ROS message type
sensor_msgs/CameraInfo. This message carries all of the camera specific calibration information.
/image_raw/, which of of ROS message type
sensor_msgs/Image. This message carries the image data.