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Package Summary

Driver node for SceneScan and SP1 stereo vision sensors by Nerian Vision GmbH

  • Maintainer status: developed
  • Maintainer: Konstantin Schauwecker <konstantin.schauwecker AT nerian DOT com>
  • Author: Nerian Vision Technologies <service AT nerian DOT com>
  • License: MIT
  • Source: git https://github.com/nerian-vision/nerian_stereo.git (branch: master)

Package Summary

Driver node for SceneScan and SP1 stereo vision sensors by Nerian Vision GmbH

  • Maintainer status: developed
  • Maintainer: Konstantin Schauwecker <konstantin.schauwecker AT nerian DOT com>
  • Author: Nerian Vision Technologies <service AT nerian DOT com>
  • License: MIT
  • Source: git https://github.com/nerian-vision/nerian_stereo.git (branch: master)

Package Summary

Driver node for SceneScan and SP1 stereo vision sensors by Nerian Vision GmbH

  • Maintainer status: developed
  • Maintainer: Konstantin Schauwecker <konstantin.schauwecker AT nerian DOT com>
  • Author: Nerian Vision Technologies <service AT nerian DOT com>
  • License: MIT
  • Source: git https://github.com/nerian-vision/nerian_stereo.git (branch: master)

Introduction

https://nerian.com/products/scenescan-stereo-vision/images/scenescan-setup.jpg

The SceneScan stereo vision sensor by Nerian Vision Technologies is a stand-alone processing system for performing stereo matching in real time. It is connected to two industrial USB cameras that provide input image data. SceneScan correlates the images of both cameras and produces a disparity map, which is transmitted through gigabit ethernet. The disparity map describes a mapping of image points from the left camera image to corresponding image points in the right camera image. With this information it is possible to reconstruct the 3D location of the corresponding scene points.


Please note: since version 3.0.0 this node is no longer compatible to SP1 – the predecessor of SceneScan. Please use an older version with SP1 or the now discontinued nerian_sp1 node


Installation

On Ubuntu Linux, please use the following commands to install the official package for your current ROS version.

sudo apt-get update
sudo apt-get install ros-`rosversion -d`-nerian-stereo

Should there not be an appropriate package for your system and ROS version, please checkout the git repository and compile the code using catkin.

ROS Node

The data delivered by SceneScan can be received using the available open source API. Using the API directly is recommended for high performance applications. Alternatively the nerian_stereo ROS node can be used for publishing the received data as ROS messages. A Nodelet version is also provided.

https://nerian.com/images/ros-rviz.png

Published Topics

The node can publish the received data through three different topics:

/nerian_stereo/point_cloud (sensor_msgs/PointCloud2)

/nerian_stereo/disparity_map (sensor_msgs/Image) /nerian_stereo/left_image (sensor_msgs/Image) /nerian_stereo/right_image (sensor_msgs/Image) /nerian_stereo/stereo_camera_info (nerian_stereo/StereoCameraInfo)

Launching and parameters

Example launch files are included for the node and nodelet. You can run several nodes in parallel if you use more than one device, specifying the respective device address and desired ROS node name:

roslaunch nerian_stereo nerian_stereo.launch device_address:=192.168.10.10 node_name:=nerian_stereo_01

The behaviour of the node can be configured through various parameters. An example parameterization can be found in the included launch file nerian_stereo.launch. The following parameters are supported:

~point_cloud_intensity_channel (string, default: "mono8")

~ros_coordinate_system (bool, default: "true") ~ros_timestamps (bool, default: "true") ~color_code_disparity_map (string, default: "none") ~color_code_legend (bool, default: "true") ~frame (string, default: "world") ~remote_host (string, default: "0.0.0.0") ~remote_port (string, default: "7681") ~use_tcp (bool, default: "false") ~calibration_file (string, default: "") ~delay_execution (double, default: 0) ~max_depth (double, default: -1)

Testing

The topics published by the nerian_stereo node can be viewed with rviz. The disparity map can also be visualized with the image_view node. In this case color coding should be activated such that the disparity map can be displayed on a screen. In order to do so, please launch the image_view node as follows:

rosrun image_view image_view image:=/nerian_stereo/disparity_map

https://nerian.com/blog/articles/images/image_view.jpg

For displaying the left camera image, please run the image_view node with the following command line:

rosrun image_view image_view image:=/nerian_stereo/left_image

Dynamic reconfiguration

At launch time, the nodes (and nodelets) publish the current configuration reported by the respective device to the ROS parameter server, and can be reconfigured at run time using ROS dynamic_reconfigure, for example using the GUI:

rosrun rqt_reconfigure rqt_reconfigure

Further Information

http://c.statcounter.com/10599048/0/906ae443/1/


2019-07-20 12:58