PHOXI_CAMERA_ROS2

ROS2 driver for PhoXi cameras with the concept of managed nodes. See user manual for more information.

phoxi_camera_ros2.mp4

Requirements

PhoXi Control (tested with 1.9)
ROS2 humble
PCL (tested with 1.12)
OpenCV (tested with 4.5.4)

Optional:

Docker
Rocker

Installation & building

Host

cd $HOME
mkdir -p phoxi_ws/src && cd phoxi_ws
git clone https://github.com/PPI-PUT/phoxi_camera_ros2 src/phoxi_camera_ros2
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to phoxi_camera_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On

Docker

cd $HOME
mkdir -p phoxi_ws/src && cd phoxi_ws
git clone https://github.com/PPI-PUT/phoxi_camera_ros2 src/phoxi_camera_ros2
cd src/phoxi_camera_ros2/docker

Download and copy PhoXi Control 1.9.1 (Ubuntu 20) here as PhotoneoPhoXiControlInstaller-1.9.1-Ubuntu20-STABLE.tar.gz

./build.sh

After build finished, run container. If you used custom path for this package, you need to change volume path in run.sh file.

./run.sh
cd phoxi_ws
colcon build --symlink-install --packages-up-to phoxi_camera_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On

To use another terminal, open new terminal window and use script.

./enter.sh

Usage

Connect camera.
Configure param file (phoxi_camera_ros2/param/defaults.param.yaml).
Run main nodes - you don't need to run PhoXiControl by hand!

source install/setup.bash
ros2 launch phoxi_camera_ros2 phoxi_camera.launch.py

In case of software mode, you may run it with_rviz:=False flag. Example service call:

ros2 service call /phoxi/phoxi_camera/depth_map phoxi_camera_msgs/srv/PhoxiImg "{save: true}"

TIFF format may require appropriate image viewer on your OS. All the services have the same request format. It is more convenient to write your own service client for your application purposes - responses contain camera output.

Interface

Camera may operate only in a single trigger mode - freerun (topics) or software (services). Exposed interface varies depending on the mode selected.

Parameters

Name	Type	Description
`trigger_mode`	string	freerun (topics), software (services)
`operation_mode`	string	camera, scanner, mode2d (only texture)
`hardware_id`	string	Camera serial number
`use_pointcloud`	bool	Use pointcloud output
`use_color_camera_image`	bool	Use color image output (if exists)
`use_confidence_map`	bool	Use confidence map output
`use_depth_map`	bool	Use depth map output (meters)
`use_event_map`	bool	Use event map output
`use_normal_map`	bool	Use normal map output
`use_texture`	bool	Use texture output (gray or rgb)
`save_dir`	string	Absolute path to data output for services
`roi`	list	Region of interest, 6 values (min x, y, z, max x, y, z)
`tf_prefix`	string	TF prefix for frame link
`debug`	bool	Print processing time

Services

Name	Type	Description
`/phoxi/phoxi_camera/cloud`	phoxi_camera_msgs::srv::PhoxiCloud	cloud request
`/phoxi/phoxi_camera/color_camera_image`	phoxi_camera_msgs::srv::PhoxiImg	color image request
`/phoxi/phoxi_camera/confidence_map`	phoxi_camera_msgs::srv::PhoxiImg	confidence map request
`/phoxi/phoxi_camera/depth_map`	phoxi_camera_msgs::srv::PhoxiImg	depth map request
`/phoxi/phoxi_camera/event_map`	phoxi_camera_msgs::srv::PhoxiImg	event map request
`/phoxi/phoxi_camera/full`	phoxi_camera_msgs::srv::PhoxiFull	all data request
`/phoxi/phoxi_camera/normal_map`	phoxi_camera_msgs::srv::PhoxiImg	normal map request
`/phoxi/phoxi_camera/texture`	phoxi_camera_msgs::srv::PhoxiImg	texture request

Publications

Name	Type	Description
`/phoxi/phoxi_camera/cloud`	sensor_msgs::msg::PointCloud2	cloud
`/phoxi/phoxi_camera/color_camera_image`	sensor_msgs::msg::Image	color image
`/phoxi/phoxi_camera/confidence_map`	sensor_msgs::msg::Image	confidence map
`/phoxi/phoxi_camera/depth_map`	sensor_msgs::msg::Image	depth map
`/phoxi/phoxi_camera/event_map`	sensor_msgs::msg::Image	event map
`/phoxi/phoxi_camera/normal_map`	sensor_msgs::msg::Image	normal map
`/phoxi/phoxi_camera/texture`	sensor_msgs::msg::Image	texture

Limitations

Software tested with MotionCam-3D (no color) on Ubuntu 20, but it should works with rest of cameras. Some code still require review with respect to the time constraints. As I have some spare time (might not happen :)), all the camera API functionalities may be added periodically, same for cameras meshes.

amadeuszsz / phoxi_camera_ros2