galaxy_camera

ROS wrapper for the galaxy camera made by Daheng Imaging.

Dependencies:

• ROS Melodic
• gxiapi

ONLY TESTED ON MER-139!!!

Getting started

Install dependencies

• ROS - http://wiki.ros.org/ROS
• gxiapi: - download Galaxy_Linux-x86_Gige-U3_32bits-64bits_1.2.1911.9122 from http://gb.daheng-imaging.com/CN/Software and install

Download and build code

This is a ros_packages,you should put it in your ROS workspace.

1. Get the source:

git clone [email protected]:QiayuanLiao/[email protected]:QiayuanLiao/galaxy_camera.git

2. Make in your workspace

catkin_make
source devel/setup.bash

Test

1. Connect the camera by USB, run:

roslaunch galaxy_camera MER-139.launch

check the image on rqt_image_view.

2. Adjust the params by rqt_reconfigure:

rosrun rqt_reconfigure rqt_reconfigure

3. Calibrate:

rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.020 image:=/galaxy_camera/galaxy_camera/image_raw camera:=/galaxy_camera

• size:是内部角点的数量，不是棋盘格的格子数(应为棋盘格的长宽都-1，队里的为11x8(12x9分别-1))

4. More information: http://wiki.ros.org/image_pipeline

TODO

• Multi-camera support
• nodelet support
• test on other device