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ROS wrapper for the galaxy camera by Daheng Imaging

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galaxy_camera

ROS wrapper for the galaxy camera made by Daheng Imaging.

Dependencies:

  • ROS Melodic
  • gxiapi

ONLY TESTED ON MER-139!!!

Getting started

Install dependencies

Download and build code

This is a ros_packages,you should put it in your ROS workspace.

  1. Get the source:
git clone git@github.com:QiayuanLiao/git@github.com:QiayuanLiao/galaxy_camera.git
  1. Make in your workspace
catkin_make
source devel/setup.bash

Test

  1. Connect the camera by USB, run:
roslaunch galaxy_camera MER-139.launch

check the image on rqt_image_view.

  1. Adjust the params by rqt_reconfigure:
rosrun rqt_reconfigure rqt_reconfigure

image.png

  1. Calibrate:
rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.020 image:=/galaxy_camera/galaxy_camera/image_raw camera:=/galaxy_camera
  • size:是内部角点的数量,不是棋盘格的格子数(应为棋盘格的长宽都-1,队里的为11x8(12x9分别-1))
  1. More information: http://wiki.ros.org/image_pipeline

TODO

  • Multi-camera support
  • nodelet support
  • test on other device

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ROS wrapper for the galaxy camera by Daheng Imaging

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