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Package Summary

Released Continuous integration Documented

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

  • 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

Released Continuous integration Documented

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

  • 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.

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 or it's predecessor – SP1 – 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.

https://nerian.com/blog/articles/images/sp1-ros.jpg

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)

Parameters

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 (bool, default: "true")

~ros_coordinate_system (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") ~local_host (string, default: "0.0.0.0") ~local_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

ROS 2 Support

A version for ROS 2 is available in the ros2 branch of the official git repository and can be compiled using the new ROS 2 build tool ament. Binary packages will be made available once ROS 2 has reached a more final state.

At the time of writing, ROS 2 does not yet support parameter initialization. The Node therefore provides the functionality to parse parameters from the command line. Please see the provided example script (run_nerian_stereo.sh) for details on how to specify parameters.

Further Information

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


2018-01-13 12:51