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How do I add a new stereo or monocular camera to ROS?

asked 2011-02-15 06:40:41 -0600

mmwise gravatar image

updated 2011-02-15 06:41:52 -0600

  • Do I need to write my own "driver"? (That is code that interfaces with the camera APIs and publishes to ROS?)
  • In that case, what do I publish?
  • Do I give only raw image output or is there a way to publish a stereo pair?
  • Are there any examples for how to do this, e.g. from some other stereo cameras?
  • What is the easiest way to do this?

copied from ros-users thread: http://code.ros.org/lurker/message/20...

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answered 2011-02-15 06:50:15 -0600

tfoote gravatar image

Do I need to write my own "driver"?

Yes, unless someone has already written one.

That is code that interfaces with the camera APIs and publishes to ROS?

Yes.

In that case, what do I publish? Do I give only raw image output or is there a way to publish a stereo pair?

There are standard ROS ways to publish stereo data.

Are there any examples for how to do this, e.g. from some other stereo cameras?

What is the easiest way to do this?

The extra ROS wrapping for publishing camera data does not involve much additional code, but does require a basic understanding of the image pipeline. So, study the interfaces and look at examples of other drivers, then ask more questions.

Answers provided by Jack O'Quin

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answered 2011-02-15 09:10:25 -0600

joq gravatar image

Some follow-up:

  • The original requester reported that the device is a VRMagic Multisensor.

  • Stefan Kohlbrecher reported that his group is working on a driver for it (not yet published).

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Comments

This is indeed the case, I expect to have a very basic version publicly available in a few days and in a repo that still has to be created :)
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2011-02-18 01:05:40 -0600 )edit
Update: A very basic version of the driver is now available, anyone who is interested please leave a comment here.
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2011-02-27 20:38:43 -0600 )edit
Update: The camera driver is now indexed on ros.org: http://www.ros.org/wiki/vrmagic_camera
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2011-10-05 19:15:04 -0600 )edit
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answered 2011-02-27 16:34:17 -0600

Yongqiang Gao gravatar image

Yeah, and i also want combine Logitech quick camera, but i am failed to get access. I reference to "http://www.ros.org/wiki/usb_cam", and could give I some advice?

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Asked: 2011-02-15 06:40:41 -0600

Seen: 1,238 times

Last updated: Feb 27 '11