This package enables interfacing Photoneo PhoXi 3D Scanner/Camera from ROS.
phoxi_camera package depends on:
- ROS (we are using Kinetic)
- PhoXiControl driver software which you can download here
phoxi_camera package depends on several state-of-the-art libraries and latest version of g++ compiler. Script install_prerequisities.sh which is available in main repo folder install all packages and libraries required for successful phoxi_camera compilation. Follow steps below to get phoxi_camera package working properly on your system:
cd catkin_ws/src
git clone https://github.com/photoneo/phoxi_camera.git
cd phoxi_camera
chmod +x install_prerequisities.sh
./install_prerequisities.sh
cd ../..
catkin_make~/scanner_id - Default PhoXi 3D Scannet to connect after startup. Default value: "InstalledExamples-PhoXi-example"
~/frame_id: - Frame id to which captured data relies to. Default value: "PhoXi3Dscanner_sensor"
# All folowing parameters are for PhoXi Control and they can override all dynamic_reconfigure parameters in cfg file.
# This values are set to scanner after startup of node.
~/confidence - Default value 3.0
~/coordination_space - Default value 1 # 1 = Camera, 2 = Mounting, 3 = Marker, 4 = Robot, 5 = Custom
~/resolution - Default value 1 # 0 = Low, 1 = High
~/scan_multiplier - Default value 1
~/send_confidence_map - Default value true
~/send_deapth_map - Default value true
~/send_normal_map - Default value true
~/send_point_cloud - Default value true
~/send_texture - Default valuetrue
~/shutter_multiplier - Default value 1
~/timeout - Default value -3 # in ms, special parameters: 0 = Zero, -1 = Infinity, -2 = Last stored, -3 = Default
~/trigger_mode - Default value 1 # 0 = Free run, 1 = Software
For input and output parameters of each service please see coresponding service file in srv folder.
~/V2/is_acquiring
~/V2/is_connected
~/V2/set_coordination_space
~/V2/set_transformation
~/V2/start_acquisition
~/V2/stop_acquisition
~/connect_camera
~/disconnect_camera
~/get_device_list
~/get_frame
~/get_hardware_indentification
~/get_supported_capturing_modes
~/is_acquiring
~/is_connected
~/save_frame
~/set_parameters
~/start_acquisition
~/stop_acquisition
~/trigger_image
~/confidence_map
~/normal_map
~/parameter_updates
~/pointcloud
~/texture
Rostests are used to test ROS node interfaces. These tests will try to connect and check if there are topics, services, and some basic parameters.
In config file tests/interfaces/config.py set camera ID. You can set up real scanner or file camera. For more information read tests/README.md
Launch test for phoxi_camera node interfaces:
rostest -t phoxi_camera phoxi_camera_interfaces.test It is possible to test PhoXi ROS interface without real hardware.
- Start PhoXiControl application
- Launch simple test example
roslaunch phoxi_camera phoxi_camera_test.launch - Application should connect to the camera and start aquiring example pointclouds
- Notice that pointcloud data are also being published on ROS topics
- Use available ROS services to control the dummy camera.
- Start PhoXiControl application
- Connect to your device
- Run Interface node
rosrun phoxi_camera phoxi_camera - Use available ROS services to control your 3D scanner
See phoxi_camera ROS Wiki page for further details.