d1200camera ROS node

ROS wrapper for MYNT EYE D-1200 stereo camera. ROS package was built as a result of experiments with Mynt Eye D-1200 depth camera. Improvements and pull requests are welcome! The package contains the only node - mynteye_d1200_node.

Published topics

• camera_color - (sensor_msgs/Image) RGB image stream
• camera_depth - (sensor_msgs/Image) Depth image stream
• points - (sensor_msgs/PointCloud2) Registered Pointcloud stream, produced from depth image.

Parameters

• rgb_topic - (string) RGB image stream topic name. Default - "/camera_color"
• depth_topic - (string) Depth image stream topic name. Default - "/camera_depth"
• points_topic - (string) Pointcloud stream topic name. Default - "". If the the parameter value is empty or not set, topic publishing is disabled.
• ir_intensity - (int) IR structured light projector intensity. Default - "0". 0 - projector is disabled, 10 - maximum intensity.
• camera_factor - (float) Camera factor. Default - "500.0"
• low_resolution - (bool) Switch camera to low resolution (640x480). High resolution is 1280 720. Default - "false". In low resolution field of view is lower but higher data publish rate.
• rgb_frame - (string) RGB stream TF frame name. Default - "color_frame"
• depth_frame - (string) Depth stream TF frame name. Default - "depth_frame"
• points_frame - (string) Points TF frame name. Default - "points_frame"

Dependencies

The package depends on Mynt Eye D library and ROS pcl_ros, image_transport, cv_bridge packages.

Installation

1. Download and install MYNT-EYE-D-SDK (https://github.com/slightech/MYNT-EYE-D-SDK)
2. Download and install ROS package:

$ mkdir -p mynteye_ws/src
$ cd mynteye_ws/src
$ git clone https://github.com/Andrew-rw/d1200camera.git
$ cd ..
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make
$ source /devel/setup.bash

3. Run demo:

$ roslaunch d1200camera demo_pointcloud.launch

4. To run RTABMAP demo install rtabmap-ros first

Links

• MYNT EYE D-1200 product page - https://www.mynteye.com/pages/d12000
• SDK documentation - https://mynt-eye-d-sdk.readthedocs.io/en/latest/
• MYNT EYE D-1200 sensor review - https://medium.com/robotics-weekends/mynt-eye-d1200-3d-camera-first-look-852da6389c42