• phoxi_camera

ROS 2 Documentation

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Introduction

The phoxi_camera driver provides a ROS interface for PhoXi devices.

Installation

Get the package from github and put it in your catkin workspace src folder:

$ cd ~/catkin_ws/src
$ git clone https://github.com/photoneo/phoxi_camera

ROS Node

Published Topics

The node can publish the received data through different topics:

/phoxi_camera/pointcloud (sensor_msgs/PointCloud2)

• Point cloud

• Confidence map

• Normal map

• Texture

Parameters

The following parameters are supported:

~vertical_resolution (int)

• Desired vertical resolution of the camera image: [full resolution (1), half resolution (2)]

• Desired horizontal resolution of the camera image: [full resolution (1), half resolution (2)]

• Defines the number of scans that will be taken and merged to single output.

• Multiplication of the Basic scanner shutter time.

• Defines the trigger mode of the device. Currently, only Freerun and Software Trigger are supported [Freerun (0), Software (1)]

• PhoXiTimeout is used in all calls when Timeout have sense calls Like GetFrame takes Timeout as optional parameters to wait for the frame [ZeroTimeout (-0), Infinity (1), LastStored (-2), Default (-3)]

• Confidence

• If enabled, an point cloud will be captured and published from the camera

• If enabled, an normal map will be captured and published from the camera

• If enabled, an texture will be captured and published from the camera

• If enabled, an confidence map will be captured and published from the camera

Testing

The point cloud published by the phoxi_camera node can be viewed with rviz.

roslaunch phoxi_camera phoxi_camera.launch