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cis_camera package from cis_camera repocis_camera |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.4 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/tork-a/cis_camera.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-01-21 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The cis_camera package
Additional Links
Maintainers
- Tokyo Opensource Robotics Kyokai (TORK) Development Team
Authors
- Yosuke Yamamoto
cis_camera 
This package contains ROS driver nodes for CIS Corporation ToF Camera Sensor DCC-RGBD1 with USB 3.0 interface.
System Configurations
- OS / ROS
- Ubuntu 16.04 / ROS Kinetic
- Ubuntu 18.04 / ROS Melodic
- USB 3.0 Port
- CIS ToF Camera Sensor DCC-RGBD1
CIS ToF Camera Sensor DCC-RGBD1
- Camera system
- Dimensions : H:50mm x W:55mm x D:35mm ( Protruding parts are not included )
- Weight : 110 g
- Frame rate : 30 fps
- RGB camera
- 1/3” CMOS image sensor
- Global shutter operation
- QVGA : 1280 x 960
- M12 lens
- Depth / IR camera
- 1/4” CCD image sensor
- VGA : 640 x 480
- M12 lens
- Output : Depth and IR images
- Depth sensing type: ToF ( Time-of-Flight )
- Depth range
- mode 0 : 300 - 5000 mm
- mode 1 : 150 - 700 mm
- NIR light source
- 2 Laser Diodes : 850nm / Class 1
- USB output
- USB 3.0 micro B
- UVC interface
- Images
- RGB : YUV422 - 1920 × 960
- IR : Gray 16bit - 640 × 480
- Depth : Gray 16bit - 640 × 480
- Power source
- DC 12V, 3A
Quick Start
Installation
Installing ROS
Install “ROS Desktop Full” on Ubuntu PC.
- ROS Kinetic for Ubuntu 16.04
- http://wiki.ros.org/kinetic/Installation/Ubuntu
- ROS Melodic for Ubuntu 18.04
- http://wiki.ros.org/melodic/Installation/Ubuntu
Installation of cis_camera
$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/camera_ws/src
$ cd ~/camera_ws/src
$ catkin_init_workspace
$ git clone https://github.com/tork-a/cis_camera.git
$ cd ~/camera_ws
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin_make
$ source ~/camera_ws/devel/setup.bash
-
NOTE: Replase
$ROS_DISTROto the ROS distribution of your system,kineticormelodic.
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
- Connect the camera to the USB 3.0 port of your Ubuntu PC
- Connect the external power source to the camera and turn it on
- NOTE : It takes about 4 seconds for the camera to start up normally after the external power is turned on.
Launching Software
PointCloud
To see the pointcloud with RViz.
$ source ~/camera_ws/devel/setup.bash
$ roslaunch cis_camera pointcloud.launch
This file launches windows of RViz and rqt_reconfigure.
When you do not need to launch rqt_reconfigure,
please set a launch option as below.
$ roslaunch cis_camera pointcloud.launch reconfigure:=false
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
VoxelGridandStatisticalOutlierRemovalfilters
- Applying flying pixel filter with PCL
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.
This example is based on “Building a Perception Pipleline” of ROS Industrial Training.
- https://industrial-training-master.readthedocs.io/en/melodic/_source/session5/Building-a-Perception-Pipeline.html
- https://industrial-training-master.readthedocs.io/en/kinetic/_source/session5/Building-a-Perception-Pipeline.html
- https://industrial-training-jp.readthedocs.io/ja/latest/_source/session5_JP/Building-a-Perception-Pipeline_JP.html
Quit Software
Enter Ctrl-C on the running terminal.
CHANGELOG
Changelog for package cis_camera
0.0.4 (2019-12-11)
- Merge pull request #25 from tork-a/add-comments Add document and comments for document
- add 'Trouble Shooting' in index.rst
- fix style 2 by yy
- fix style
- Merge branch 'add-comments' of https://github.com/tork-a/cis_camera into add-comments
- remove doc/manifest.yaml
- Update index.rst
- mod index.rst format
- mod spec. list
- remove 'Fig.' for captions
- update documant index.rst, add build process for making document pdf file.
- update documents
- mod maintainer as dev@TORK and add author informaiton, add files for documents.
- remove doc/html/ folder
- doc/html generated by rosdoc_lite
- Merge branch 'master' into add-comments
- Merge pull request #24 from tork-a/fix-zero-depth-cnv-gain Fix zero depth cnv gain and add RGB camera info dynamic_reconfigure
- add rgb camera info dynamic_reconfigure
- fix depth_cnv_gain_ getting zero sometimes after the launch.
- Merge pull request #23 from tork-a/add-frame-data-check mod num_worker_threads from 32 to 4, mod unexpected frame data size w…
- mod num_worker_threads from 32 to 4, mod unexpected frame data size warning message.
- Merge pull request #22 from tork-a/add-frame-data-check Add frame data check, mod RGB pointcloud with tf
- add processing.launch.xml for RGB pointcloud with tf
- remove old code lines those are commented out
- add frame data size check to avoid memory segmentation error, add debug mode.
- add comments for documents
- Merge branch 'master' of https://github.com/tork-a/cis_camera into mod-cmakelists
- add tf_conversions in CMakeLists.txt
- Contributors: Tokyo Opensource Robotics Developer 534, Yosuke Yamamoto
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/tof.launch
-
- launch_prefix [default: ]
- vendor [default: 0x2af2]
- product [default: 0x1001]
- depth_range [default: 0]
- threshold [default: 0]
- nr_filter [default: 1]
- pulse_count [default: 2000]
- ld_enable [default: 3]
- ir_gain [default: 256]
- ae_mode [default: 3]
- brightness_gain [default: 1.0]
- exposure_time [default: 0.01]
- color_correction [default: 1]
- r_gain [default: 1.0]
- g_gain [default: 1.0]
- b_gain [default: 1.0]
- temp_time [default: 1.0]
- launch/tof_nodelet.launch
-
- camera [default: camera]
- manager_name [default: manager]
- vendor [default: 0x2af2]
- product [default: 0x1001]
- depth_range [default: 0]
- threshold [default: 0]
- nr_filter [default: 1]
- pulse_count [default: 2000]
- ld_enable [default: 3]
- ir_gain [default: 256]
- ae_mode [default: 3]
- brightness_gain [default: 1.0]
- exposure_time [default: 0.01]
- color_correction [default: 1]
- r_gain [default: 1.0]
- g_gain [default: 1.0]
- b_gain [default: 1.0]
- temp_time [default: 1.0]
- launch/pcl_pipeline_example.launch
- launch/pointcloud.launch
-
- debug [default: false]
- rviz [default: true]
- reconfigure [default: true]
- camera [default: camera]
- num_worker_threads [default: 4]
- vendor [default: 0x2af2]
- product [default: 0x1001]
- depth_range [default: 0]
- threshold [default: 0]
- nr_filter [default: 1]
- pulse_count [default: 2000]
- ld_enable [default: 3]
- ir_gain [default: 256]
- ae_mode [default: 3]
- brightness_gain [default: 1.0]
- exposure_time [default: 0.01]
- color_correction [default: 1]
- r_gain [default: 1.0]
- g_gain [default: 1.0]
- b_gain [default: 1.0]
- temp_time [default: 1.0]
- pointcloud_rgb [default: false]
- flying_pixel_filter [default: false]
- launch/includes/processing.launch.xml
- Load full set of processing nodelets for a RGBD device
-
- manager
- respawn [default: false]
- rgb_processing [default: true]
- debayer_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- sw_registered_processing [default: true]
- hw_registered_processing [default: true]
- rgb [default: rgb]
- ir [default: ir]
- depth [default: depth]
- depth_registered [default: depth_registered]
- depth_registered_filtered [default: depth_registered]
- projector [default: projector]
Messages
No message files found.
Services
No service files found