R200 support

[severin-lemaignan]

The R200 RGDB camera does not work yet.

Here a sample output of realsense_camera_node:

 $ ./devel/lib/realsense_camera/realsense_camera_node _realsense_camera_type:="Intel RealSense 3D Camera R200"


===================
realsense_camera_type = Intel RealSense 3D Camera R200
rgb_frame_id = _rgb_optical_frame
depth_frame_id = _depth_optical_frame
depth_unit = 31.250000
depth_scale = 0.001000
depth_fxinv = 0.002156
depth_fyinv = 0.002156
depth_cx = 320.000000
depth_cy = 240.000000
depth_uv_enable_min = 0
depth_uv_enable_max = 2047
topic_depth_points_id = /depth/points
topic_depth_registered_points_id = /depth_registered/points
topic_image_rgb_raw_id = /rgb/image_raw
topic_image_depth_raw_id = /depth/image_raw
topic_image_infrared_raw_id = /ir/image_raw
debug_depth_unit = 0
rgb_camera_info_url = 
ir_camera_info_url = 
=======================


depthWithIRStream - NOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
if you want IR stream, please visit
http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html
https://github.com/teknotus/depthview/tree/kernelpatchfmt

===========================================
Intel(R) RealSense(TM) 3D Camera lists

PCI: usb-0000:00:14.0-2
Serial: SN_2211011528
    /dev/video0
    /dev/video1
    /dev/video2
===========================================

use camera SN_2211011528
Directory /home/skadge/ros-dev/share/realsense_camera/data/uvmap/SN_2211011528 does not exist!!!!
video rgb name is /dev/video0
video depth name is /dev/video1

============== VIDIOC_QUERYCAP
/dev/video0 
   driver = uvcvideo
   card = Intel RealSense 3D Camera R200
   bus_info = usb-0000:00:14.0-2
   version = 0x00040202
   capabilities = 0x85200001
   device_caps = 0x05200001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video0 
v4l2_pix_format
   width = 320
   height = 962
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 640
   sizeimage = 615680
   colorspace = 0
   priv = -17970434


======================== set
/dev/video0 
v4l2_pix_format
   width = 320
   height = 962
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 640
   sizeimage = 615680
   colorspace = 0
   priv = -17970434


============ VIDIOC_S_PARM
/dev/video0 
v4l2_streamparm
   timeperframe.numerator = 1
   timeperframe.denominator = 60

video rgb w,h - 320, 962

============== VIDIOC_QUERYCAP
/dev/video1 
   driver = uvcvideo
   card = Intel RealSense 3D Camera R200
   bus_info = usb-0000:00:14.0-2
   version = 0x00040202
   capabilities = 0x85200001
   device_caps = 0x05200001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video1 
v4l2_pix_format
   width = 314
   height = 938
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 628
   sizeimage = 589064
   colorspace = 0
   priv = -17970434


======================== set
/dev/video1 
v4l2_pix_format
   width = 628
   height = 469
   pixelformat_value = 0x00000000
   pixelformat = 
   field = 1
   bytesperline = 1256
   sizeimage = 589064
   colorspace = 0
   priv = -17970434


VIDIOC_S_PARM error 5, Input/output error

v4l2_munmap error 22, Invalid argument
open /dev/video1 error!!!!!!!!

Note that the video streams of the camera are visible in VLC/guvcview, but interestingly 3 /dev/video devices are available while the F200 creates only 2.
/dev/video0 and /dev/video1 look both like depth maps (but not the same data, though), while /dev/video2 is the RGB stream.

[teknotus]

Note that the video streams of the camera are visible in VLC/guvcview, but interestingly 3 /dev/video devices are available while the F200 creates only 2.

The F200 has the data for both depth, and infrared in one frame. I think the R200 has the third device as a feed for the infrared separate from the depth.

I've been working through trying to figure out the R200 on another bug tracker. Maybe looking at that would help.
teknotus/depthview#11

[BlazingForests]

@severin-lemaignan sorry! I still don't have the R200 device. R200's state is still "Out of stock". T_T

[gmhuili]

Any update on R200 support?

[teknotus]

On Jan 15, 2016 3:18 PM, "Dalvik" notifications@github.com wrote:

Any update on R200 support?

Intel released a kernel patch that gets you the video formats, and a
documentation patch describing the formats. Should be enough info to get it
partly working. I've been trying to figure out more details of my camera.

[gmhuili]

Did you mean the stuff under https://github.com/PercATI/RealSense_ROS/tree/master/r200_install/ds_uvcdriver?

[teknotus]

On Jan 15, 2016 6:01 PM, "Dalvik" notifications@github.com wrote:

Did you mean the stuff under
https://github.com/PercATI/RealSense_ROS/tree/master/r200_install/ds_uvcdriver
?

They sent almost the same patch to the kernel_media mailing list but
against the current kernel. I think the PercATI version only applies
cleanly to the Ubuntu 14.04 kernel. The documentation patch only got sent
to the mailing list.

[gmhuili]

I tried it 3-4 weeks ago. R200 could be detected, however, there is no any stream output, even the RGB one. Are you able to get the RGB and depth streams?

[sthoduka]

FYI: https://github.com/IntelRealSense/librealsense

[severin-lemaignan]

!!! @sthoduka thanks a lot for the link! It is a game changer! Especially considering that librealsense provides the registered depth + RGB streams and the intrinsic + extrinsic calibration!
@BlazingForests do you plan updating your node with this upstream library? I may otherwise give it a try in the coming weeks.

[ddiakopoulos]

I'm the co-developer of librealsense (and of course I keep an eye on projects like this!). Our formal recommendation is that people move towards our library for the low-level layer. There is another internal open-source team developing a ROS node based on librealsense that will be available later (and projects like the RealSense_ROS repo are effectively deprecated). It would be great to have an interim ROS node, but keep in mind that Intel will also release a supported node based on librealsense at some point in the future.

[BlazingForests]

@severin-lemaignan Hi, I will plan to update this repo for research when my R200 device arrived. If you want to use realsense device, you can try the librealsense. Thx.

[severin-lemaignan]

Just to avoid duplicate efforts, Intel is to release an official ROS node: realsenseai/librealsense#30

[teknotus]

I would consider Intel's node to be the duplicate effort. They are basing it on librealsense which won't compile on anything other than an Intel processor. This project is still relevant for anyone wanting to use something like ARM. Since ROS has standard messages it should be easy to switch between the two solutions and use Intel's solution on Mac OS X, and this one on an ARM based robot.

[ddiakopoulos]

@teknotus not sure if trolling? It's incredibly trivial to rip out the single SSE function in librealsense as several forks have done.

In any case, the ROS node is now available: https://github.com/intel-ros/realsense

[teknotus]

Not trolling. There is more than one way to do things. I was just pointing out that a new way of doing things doesn't make the old way suddenly invalid. librealsense even uses two different back ends depending on situation. The unifying interface of ROS avoids API fragmentation.