Overview

TaraXL is a UVC compliant 3D Stereo camera based on MT9V024 stereo sensor from ON Semiconductor which supports WVGA ((2*752) x 480) at 60 fps over USB 3.0 in uncompressed format. This Stereo camera provides two synchronized sensor frame data interleaved side by side to the host machine over USB 3.0 interface.

TaraXL can be used by customers who want to develop their Stereo camera algorithms and to integrate Stereo camera in their product design. TaraXL is provided with accelerated SDK for NVIDIA Jetson TX2 and Ubuntu 16.04 x64 which is ideal for depth application product designs.

e-con Systems 3D Stereo camera is ideal for applications such as Depth Sensing, Disparity Map, Point Cloud, Machine vision, Drones, 3D video recording, Surgical robotics, and so on.

This package provides ROS Nodes for TaraXL camera.

Click Here For More Information

  • http://linuxgizmos.com/files/econ_taraxl.jpg

Installation

Prerequisites

This package requires TaraXL SDK in order to use TaraXL Stereo camera with ROS. Before installing the taraxl-ros-package, follow the Install Prerequisites for TaraXL SDK.

You can download the taraxl-ros-package on github: https://github.com/econsystems/taraxl-ros-package

Install Prerequisites

  1. Download the latest version of the TaraXL SDK at https://developer.e-consystems.com

  2. Install the TaraXL SDK on your Nvidia Tx2 device or Linux system(x86).
  3. Install the Ubuntu install of ROS Kinetic and make your system ready for ROS.

  4. Download the package from github and put it in your catkin src folder
    1. cd ~/catkin/src
    2. git clone https://github.com/econsystems/taraxl-ros-package

    3. git clone https://github.com/econsystems/vision_opencv.git

  5. Build the package from your catkin folder
    1. cd ~/catkin
    2. catkin_make
    3. source ./devel/setup.bash

Support

Email: techsupport@e-consystems.com

ROS API

Published Topics

  • /taraxl/left/image_rect - Rectified left image

  • /taraxl/right/image_rect - Rectified right image

  • /taraxl/stereo/disparity/image - Disparity image

  • /taraxl/depth/image - Depth image

Dynamic Reconfiguration Settings

  • brightness : Controls brightness of the image (1-7)

  • exposure : Manual exposure value (10-1000000)

  • accuracy : Accuracy of the disparity image.

  • auto_exposure : Enable auto exposure

Test Package

Open a terminal and enter the following command :

roslaunch taraxl_ros_package taraxl.launch

To visualize TaraXL topics, open a terminal and enter the following command:

rqt_image_view

Wiki: taraxl-ros-package (last edited 2018-09-14 16:02:54 by taraxl-ros-package)