About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Use GitHub to report bugs or submit feature requests. [View active issues]

This package is a stereo camera driver for DUO cameras.

NOTE: This is a community developed package that is now deprecated. For official and up to date package for DUO camera support for ROS, please visit duo3d-driver.

DUO3D Overview

The DUO3D ROS driver is a package that can act as either a regular camera driver outputing a left and right camera image, or it can act purely as a stereo camera, outputing a disparity image, and a PointCloud2. The user is not limited to one or the other, both left/right camera images can be provided at the same time as disparity and PointCloud2. The code can be viewed on Github here

NOTE: This driver works ONLY with DUO3D cameras (http://duo3d.com/). Utilizing the optimized DUO Dense3D library, eliminates the need for other disparity calculation nodes.

Nodes

duo3d_node

duo3d_node outputs camera, and IMU data from the DUO3D Camera.

Published Topics

duo3d_camera/left/image_raw (sensor_msgs/Image)

• Left camera raw image

duo3d_camera/left/camera_info (sensor_msgs/CameraInfo)

• Left camera raw image

duo3d_camera/right/image_raw (sensor_msgs/Image)

• Right camera raw image

duo3d_camera/right/camera_info (sensor_msgs/CameraInfo)

• Right camera raw image

Parameters

~gain (double, default: 50)

• Gain parameter on camera image

~exposure (double, default: 50)

• Exposure parameter on camera image

~LED (double, default: 50)

• LED brightness level parameter

~frame_id (string, default: duo3d_camera)

• Frame to specify in header of outgoing camera messages