# ros-feynman-camera

**Repository Path**: cnrobot_cluster/ros-feynman-camera

## Basic Information

- **Project Name**: ros-feynman-camera
- **Description**: ros example code of feynman camera
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: newprotocol
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 5
- **Created**: 2024-05-20
- **Last Updated**: 2024-09-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# feynman_camera

A ROS driver for Nextvpu 3D cameras.

## Install

This package supports ROS and tested in Melodic(ubuntu 18.04 lts).

1. Install [ROS](http://wiki.ros.org/ROS/Installation).

2. Install dependences
    ```sh
    sudo apt install libusb-1.0-0-dev ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
    ```

3. Create a [ROS Workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)(if you don't have one)
	 ```sh
    mkdir -p ~/catkin_ws/src
	cd ~/catkin_ws/
	catkin_make
	source devel/setup.bash
    ```
    or
    ```sh
    mkdir -p ~/catkin_ws/src
	cd ~/catkin_ws/
	catkin_make install
	source install/setup.bash
    ```
	
4. Pull the repository into your ROS workspace  

    clone the repository if you don't have one(only for newprotocol branch):
    ```sh
    cd ~/catkin_ws/src
    git clone --recurse-submodules https://gitee.com/nextvpu/ros-feynman-camera -b newprotocol

    cd ~/catkin_ws/src/ros-feynman-camera
    git submodule update --init --recursive
    ```
    
    or update the repository if you have one(only for newprotocol branch):  
    ```sh
    cd ~/catkin_ws/src/ros-feynman-camera
    git pull
    git submodule update --init --recursive
    ```

5. cp feynman udev rule
    ```sh
    roscd feynman_camera
    sudo cp nextvpu-usb.rules /etc/udev/rules.d
    ```

6. Go to catkin workspace and compile feynman_camera
    ```sh
    cd ~/catkin_ws
    catkin_make --pkg feynman_camera
    ```
    or install:
      ```sh
    cd ~/catkin_ws
    catkin_make install --pkg feynman_camera
    ```
    or clean:
      ```sh
    cd ~/catkin_ws
    catkin_make clean --pkg feynman_camera
    ```

## Run feynman_camera

If you didn't add `source $YOUR_WORKSPACE/devel/setup.bash` to your `.bashrc`, remember to source it when open a new terminal :)

or

If you didn't add `source $YOUR_WORKSPACE/install/setup.bash` to your `.bashrc`, remember to source it when open a new terminal :)

### Examples

#### Set correct device_id of camera

edit launch/feynman.launch and change the device_id to proper value.

#### Use feynman

`roslaunch feynman_camera feynman.launch`

## Important Topics
(* means device_id of camera)  
* `/feynman_camera/*/depth/image_raw`:depth raw data,sensor_msgs::Image(16bit integer)
* `/feynman_camera/*/leftir/image_rect`:depth left data(rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/rightir/image_rect`:depth right data(rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/temperature`:cpu and projector temperature,feynman_camera::temp_info(2 float point)
* `/feynman_camera/*/depth/dotcloud`:dot cloud data,sensor_msgs::PointCloud2
* `/feynman_camera/*/rgb/image_rect_color`:rgb sensor data,sensor_msgs::Image(rgb888)
* `/feynman_camera/*/leftir/image_color`:left sensor raw data(not rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/rightir/image_color`:right sensor raw data(not rectified),sensor_msgs::Image(rgb888)
* `/feynman_camera/*/leftir/image_rect_color`:rectify left sensor data,sensor_msgs::Image(rgb888)
* `/feynman_camera/*/rightir/image_rect_color`:rectify right sensor data,sensor_msgs::Image(rgb888)
* `/feynman_camera/*/leftir/camera_info`:camerainfo of left ir camera
* `/feynman_camera/*/rightir/camera_info`:camerainfo of right ir camera
* `/feynman_camera/*/rgb/camera_info`:camerainfo of rgb camera
* `/feynman_camera/*/cnn_info`:cnn bbox info,feynman_camera::cnn_info

## Useful Services

This package provides multiple [ros services](http://wiki.ros.org/Services) for users to get useful information and set up devices. To know more about using these services, please check [this tutorial](http://wiki.ros.org/rosservice).(* means device_id of camera)

* `/feynman_camera/*/cameraparam`:return cameraparam
* `/feynman_camera/*/streammode`:set stream mode
mode 0:sensor raw+rgb
mode 1:sensor raw or sensor rectify
mode 2:depth
mode 2:depth+cnn

* `/feynman_camera/*/depthmode`:set depth mode of denoise/fusion/zoom/stitch
* `/feynman_camera/*/exposure`:set exposure
data: {isauto: 0, leftexposureus: 0, rightexposureus: 0, leftgain: 0, rightgain: 0}
isauto=0:manual exposure
isauto =1:auto exposure
when isauto is equal to 0,you can set left and right sensor's exposure time in microseconds and set gain

* `/feynman_camera/*/setprojector`:set projector on(1) or off(0)
* `/feynman_camera/*/switchrectify`:switch sensor data of rectify('rectify') or not('vi')

### Change Resolution
1.run rqt_reconfigure
```
rosrun rqt_reconfigure rqt_reconfigure
```
2.change resolution in rqt_reconfigure dialog
support resolution:1280x800,1280x720,640x480,640x400,320x200
after modify resolution in the dialog,press enter key

### Examples

After launching an feynman camera, you can get camera param by the following command(* means device_id of camera)
1. get camera param
    ```sh
    rosservice call /feynman_camera/*/cameraparam
    ```

2. change stream mode
    ```sh
    rosservice call /feynman_camera/*/streammode 0 #set stream mode to output sensor raw data
    rosservice call /feynman_camera/*/streammode 1 #set stream mode to output sensor raw or rectify data
    rosservice call /feynman_camera/*/streammode 2 #set stream mode to output depth data
    rosservice call /feynman_camera/*/streammode 3 #set stream mode to output depth and cnn data
    ```

The usage of other services,  is same as above examples.

### params in launch file

1. device_id:camera device id
2. resolution:resolution of rgb and ir and depth,one of:"1280x800","1280x720","640x480","640x400","320x200"
3. fps:fps of rgb and ir and depth origin fps,one of:15,30
4. fpsratio：ratio of fps,result fps is fps/fpsratio,for example:fps=15,fpsratio=2,result fps:15/2=7.5
5. pubrgb: when set true,program will enable camera to transfer rgb data and publish to ros
6. pubir: when set true,program will enable camera to transfer ir data and publish to ros
6. pubdotcloud: when set true,program will compute dotcloud from depth data and publish to ros
7. pubdepth: when set true,program will enable camera to transfer depth data and publish to ros
8. savedata: when set true,program will start save data thread,then you can call the service to save depth data to png file
9. pubdepthalign:when set true,program will compute depth align to rgb and publish to ros
10. confidence:when set true,program will set camera to apply confidence algorithm to depth data
11. lightfilter:when set true,program will apply light removal algorithm to depth data to filter light area in depth data
12. pubpseudo:when set true,program will compute pseudo image from depth data and publish to ros
13. pubimu:when set true,program will set camera to transfer imu data and publish to ros
14. clip_distance: when set positive value of m,program will clip dot cloud data,only dotcloud's distance less than the clip_distance will be left
15. edgefilter:when set true,program will set camera to apply edge filter algorithm to depth or rgb or ir data to cut edge area,the width will be set in xxedgeoffset params
16. iredgeoffset:when edgefilter is true and this value is positive,iredgeoffset pixels width will be cut in ir image data
17. rgbedgeoffset:when edgefilter is true,this value is positive,rgbedgeoffset pixels width will be cut in rgb image data
18. depthedgeoffset:when edgefilter is true,this value is positive,depthedgeoffset pixels width will be cut in depth image data


## License

Copyright 2019 NextVPU Co., Ltd.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at

[http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0)

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

*Other names and brands may be claimed as the property of others*