[ros-users] camera1394 and swissranger

[Radu Bogdan Rusu]

Patrick,

Yes, the API of PointCloud2 is stable. If you're not sure how to work with it, I can guide you through the conversion 
process.

PointCloud is not deprecated and will not be for some time now, because a lot of stuff has already been developed on top 
of it. However, we encourage new users to switch to PointCloud2 and make use of our Point Cloud Library (PCL) for 
processing. At some point in the future, PointCloud and point_cloud_mapping will be deprecated and removed.

Cheers,
Radu.

Patrick Beeson wrote:
> I haven't seen any talk on the users list about PointCloud2.  Is the API 
> for PointCloud2 stable?  Is it supported in rviz?  Or hsould I keep 
> using the original PointCloud for now.
> 
> 
> 
> Patrick Beeson wrote:
>> Given that the camera1394 driver is based off my local ROS node, I'm 
>> definitely using it to update my very similar swissranger node for 
>> public use.  I especially want to be able to use testing of the 
>> camera1394 node to inform changes to the SR node, as I doubt there will 
>> be as many testers for the SR node.
>>
>> Thanks for the help and advice.
>>
>> Blaise Gassend wrote:
>>> The calibration would be done at a higher level, and the parameters
>>> passed back to the camera driver whose responsibility it is to publish
>>> them. So if you just output default values, people will have a hard time
>>> using the device as a camera.
>>>
>>> You could look at the CameraInfoManager in camera1394. It would be easy
>>> for you to pull into your driver, and would allow people to calibrate
>>> the camera just like any other camera. At some point I want to move that
>>> functionality into some common package, but I haven't had a chance yet.
>>>
>>> Blaise
>>>
>>> On Tue, 2010-03-30 at 11:12 -0500, Patrick Beeson wrote:
>>>> The swissranger is calibrated at the factory.  They do not provide 
>>>> the internal optical parameters they use when getting 3D points from 
>>>> 2D images.  If one wanted to rectify the 2D depth or intensity 
>>>> images, one could run a checkerboard calibration from the intensity 
>>>> image (I've done this).  I'm assuming this would be done at a higher 
>>>> level than the camera communication driver.   So, for now, camera 
>>>> parameters will need to be set to defaults.
>>>>
>>>>
>>>> Blaise Gassend wrote:
>>>>> If it looks like a dog, and barks like a dog, why not put it in
>>>>> dog_experimental?
>>>>>
>>>>> So if you are publishing an image and a camera info with the standard
>>>>> directory structure, it sounds like a good candidate for
>>>>> camera_drivers_experimental.
>>>>>
>>>>> How are you dealing with calibration?
>>>>>
>>>>> Blaise
>>>>>
>>>>> On Tue, 2010-03-30 at 09:44 -0500, Patrick Beeson wrote:
>>>>>> I think I'll have some time later this week to update my ROS 
>>>>>> Swissranger 3000/4000 driver with appropriate image_proc info.  
>>>>>> Radu and I had discussed this replacing his older 3K node, as this 
>>>>>> is basically a port of that to work with the newer Mesa Imaging API.
>>>>>>
>>>>>> I think having this driver in the camera_drivers_experimental would 
>>>>>> be fine, as the device is essentially a camera that publishes 
>>>>>> multiple 2D images along with a point cloud (I'll make this a 
>>>>>> runtime option).  Any objections to locating a 3D flash lidar 
>>>>>> driver in the camera_drivers_experimental stack?
>>>>>>
>>>>>>
>>>>>> Patrick Beeson
>>>>>> _______________________________________________
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/