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Overview

This package is a ROS wrapper of SDK for OrSens 3D-camera.

Usage

launch folder contains several files for different purposes:

• orsens.launch - basic launch

• orsens_stereo.launch - launch in stereo mode, for some ROS solutions, i.e. RTAB-Map stereo mapping and navigation.

• orsens_calibration.launch - launch ROS stereo calibration.

Nodes

orsens_node

Main node that publishes camera's data, as well as some results of SDK's integrated CV functions.

Published Topics

disp (sensor_msgs/Image)

• Disparity image, mono8, values in range 0-255, brighter is closer.

depth (sensor_msgs/Image)

• Depth image, 16UC1, values in millimetres.

left/image_raw (sensor_msgs/Image)

• Left RGB image, bgr8.

left/camera_info (sensor_msgs/CameraInfo)

• Left camera info.

right/image_raw (sensor_msgs/Image)

• Right RGB image, bgr8.

right/camera_info (sensor_msgs/CameraInfo)

• Right camera info.

cloud (pcl/PCLPointCloud2)

• Point cloud.

nearest_obstacle (orsens/NearestObstacle)

• information about nearest obstacle: centre, width, height, direction from camera etc.

segmentation_mask (sensor_msgs/CameraInfo)

• Image mask which represents scene regions (currently floor only)

Parameters

~capture_mode (string, default: "depth_only")

• Determines which data to capture from the camera. Possible values are "depth_only"- capture just depth stream, "depth_left" - capture both streams, "left_only" and "left_right".

~data_path (string, default: "data")

• Path to the data folder.

~left_camera_info_url (string, default: "data_path/calibration/caminfo_left.yml")

• An url to the left camera calibration file that will be published as left/camera_info.

~right_camera_info_url (string, default: "data_path/calibration/caminfo_right.yml")

• An url to the right camera calibration file that will be published as right/camera_info.

~frame_id (string, default: "orsens_camera")

• The camera's tf frame.

~depth_width (int, default: 640)

• Same for depth stream.

~color_rate (int, default: 15)

• Request RGB stream framerate.

~depth_rate (int, default: 15)

• Request depth stream framerate.

~compress_color (bool, default: false)

• Request compressed RGB stream (may solve USB bandwidth problems).

~compress_depth (bool, default: false)

• Same for depth stream, but for future use, not working now.

~publish_depth (bool, default: true)

• Publish depth image.

~publish_cloud (bool, default: false)

• Publish pointcloud.

~publish_left_camera_info (bool, default: false)

• Publish left camera metadata.

~publish_right_camera_info (bool, default: false)

• Publish right camera metadata.

~publish_nearest_obstacle (bool, default: false)

• Publish information about nearest obstacle.

~publish_segmentation_mask (bool, default: false)

• Publish mask with scene regions.

Demos

Stereo visual odometry and mapping

Running samples and ROS nodes

OrSens vs. two web-cameras with stereo-matching

Calibration

1. Camera's depth engine is precalibrated, but if you need to recalibrate it for some reason, please contact us at support@oriense-tech.com for instructions and software.

2. To get ROS CameraInfo use camera calibration tool via this launch file.