ARM-ubuntu

[ZahraBoroujeni]

Hello,

Is it possible to compile and use this package (intel realsense f200) using ARM-Ubuntu?
I have odroid xu4, ubuntu 14.04. ROS indigo?

Best,
Zahra

[ZahraBoroujeni]

Finally I cross compiled it. And I use your package in Odroidxu4. Still there are some errors I am working on.

[ZahraBoroujeni]

I can see the RGB image and point clouds but unfortunately I could not recieve IRStream , I recompile the odroidxu kernel by using patch file from link below, but there is not solve the problem. :(

https://github.com/teknotus/depthview/tree/kernelpatchfmt

Please find my log below:

   # 00:07:11 Konrad-1:/> roslaunch realsense_camera realsense_camera.launch 
... logging to /root/.ros/log/4628afbc-53a7-11e2-8c6f-001e063116f4/roslaunch-Konrad-1-9014.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:41149/

SUMMARY
========

PARAMETERS
 * /realsense_node/debug_depth_unit: False
 * /realsense_node/depth_cx: 320.0
 * /realsense_node/depth_cy: 240.0
 * /realsense_node/depth_frame_id: camera_depth_opti...
 * /realsense_node/depth_fx: 463.888885
 * /realsense_node/depth_fy: 463.888885
 * /realsense_node/depth_scale: 0.001
 * /realsense_node/depth_unit: 33.1
 * /realsense_node/depth_uv_enable_max: 800
 * /realsense_node/depth_uv_enable_min: 0
 * /realsense_node/ir_camera_info_url: 
 * /realsense_node/realsense_camera_type: Intel(R) RealSens...
 * /realsense_node/rgb_camera_info_url: 
 * /realsense_node/rgb_frame_h: 720
 * /realsense_node/rgb_frame_id: camera_rgb_optica...
 * /realsense_node/rgb_frame_w: 1280
 * /realsense_node/topic_depth_points_id: camera/depth/points
 * /realsense_node/topic_depth_registered_points_id: camera/depth_regi...
 * /realsense_node/topic_image_depth_raw_id: camera/depth/imag...
 * /realsense_node/topic_image_infrared_raw_id: camera/ir/image_raw
 * /realsense_node/topic_image_rgb_raw_id: camera/rgb/image_raw
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    realsense_node (realsense_camera/realsense_camera_node)

auto-starting new master
process[master]: started with pid [9050]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4628afbc-53a7-11e2-8c6f-001e063116f4
process[rosout-1]: started with pid [9087]
started core service [/rosout]
process[realsense_node-2]: started with pid [9124]
process[camera_base_link-3]: started with pid [9134]
process[camera_base_link1-4]: started with pid [9141]
process[camera_base_link2-5]: started with pid [9146]
process[camera_base_link3-6]: started with pid [9155]


===================
realsense_camera_type = Intel(R) RealSense(TM) 3D Camer
rgb_frame_id = camera_rgb_optical_frame
depth_frame_id = camera_depth_optical_frame
depth_unit = 33.099998
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 = 800
topic_depth_points_id = camera/depth/points
topic_depth_registered_points_id = camera/depth_registered/points
topic_image_rgb_raw_id = camera/rgb/image_raw
topic_image_depth_raw_id = camera/depth/image_raw
topic_image_infrared_raw_id = camera/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-xhci-hcd.2.auto-1.2.1
Serial: 019150133901
    /dev/video0
    /dev/video1
===========================================

use camera 019150133901
Directory /root/catkin_ws/src/realsense_camera/data/uvmap/019150133901 does not exist!!!!
video rgb name is /dev/video0
video depth name is /dev/video1

============== VIDIOC_QUERYCAP
/dev/video0 
   driver = uvcvideo
   card = Intel(R) RealSense(TM) 3D Camer
   bus_info = usb-xhci-hcd.2.auto-1.2.1
   version = 0x00030A5C
   capabilities = 0x85000001
   device_caps = 0x05000001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video0 
v4l2_pix_format
   width = 1280
   height = 720
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 2560
   sizeimage = 1843200
   colorspace = 0
   priv = 0


======================== set
/dev/video0 
v4l2_pix_format
   width = 1280
   height = 720
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 2560
   sizeimage = 1843200
   colorspace = 0
   priv = 0


============ VIDIOC_S_PARM
/dev/video0 
v4l2_streamparm
   timeperframe.numerator = 1
   timeperframe.denominator = 30

video rgb w,h - 1280, 720

============== VIDIOC_QUERYCAP
/dev/video1 
   driver = uvcvideo
   card = Intel(R) RealSense(TM) 3D Camer
   bus_info = usb-xhci-hcd.2.auto-1.2.1
   version = 0x00030A5C
   capabilities = 0x85000001
   device_caps = 0x05000001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video1 
v4l2_pix_format
   width = 640
   height = 480
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 1280
   sizeimage = 614400
   colorspace = 0
   priv = 0


======================== set
/dev/video1 
v4l2_pix_format
   width = 640
   height = 480
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 1280
   sizeimage = 614400
   colorspace = 0
   priv = 0


============ VIDIOC_S_PARM
/dev/video1 
v4l2_streamparm
   timeperframe.numerator = 1
   timeperframe.denominator = 30

video depth w,h - 640, 480
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

Did anyone run the package using ARM core?

[teknotus]

I've gotten the F200 working with a different ARM processor so I think it should be possible with the ODROID. It has USB 3.0. What do you get when you list the available formats for each of the three cameras?

v4l2-ctl --list-formats

Also what do you get from dmesg directly after attaching the camera?

Control 134217728 is not supported

Tells me that you don't have the control mapping code running.
https://github.com/teknotus/depthview/tree/udev

[Nikvand]

Hi I am in a similar situation,

``SUMMARY

PARAMETERS

• /realsense_node/debug_depth_unit: False
• /realsense_node/depth_cx: 320.0
• /realsense_node/depth_cy: 240.0
• /realsense_node/depth_frame_id: camera_depth_opti...
• /realsense_node/depth_fx: 463.888885
• /realsense_node/depth_fy: 463.888885
• /realsense_node/depth_scale: 0.001
• /realsense_node/depth_unit: 33.1
• /realsense_node/depth_uv_enable_max: 800
• /realsense_node/depth_uv_enable_min: 0
• /realsense_node/ir_camera_info_url:
• /realsense_node/realsense_camera_type: Intel(R) RealSens...
• /realsense_node/rgb_camera_info_url:
• /realsense_node/rgb_frame_h: 720
• /realsense_node/rgb_frame_id: camera_rgb_optica...
• /realsense_node/rgb_frame_w: 1280
• /realsense_node/topic_depth_points_id: camera/depth/points
• /realsense_node/topic_depth_registered_points_id: camera/depth_regi...
• /realsense_node/topic_image_depth_raw_id: camera/depth/imag...
• /realsense_node/topic_image_infrared_raw_id: camera/ir/image_raw
• /realsense_node/topic_image_rgb_raw_id: camera/rgb/image_raw
• /rosdistro: indigo
• /rosversion: 1.11.16

NODES
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
realsense_node (realsense_camera/realsense_camera_node)

auto-starting new master
process[master]: started with pid [8257]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1e694fce-e24a-11e5-aebd-0060e063bfde
process[rosout-1]: started with pid [8270]
started core service [/rosout]
process[realsense_node-2]: started with pid [8273]
process[camera_base_link-3]: started with pid [8274]
process[camera_base_link1-4]: started with pid [8280]
process[camera_base_link2-5]: started with pid [8281]
process[camera_base_link3-6]: started with pid [8299]

realsense_camera_type = Intel(R) RealSense(TM) 3D Camer
rgb_frame_id = camera_rgb_optical_frame
depth_frame_id = camera_depth_optical_frame
depth_unit = 33.099998
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 = 800
topic_depth_points_id = camera/depth/points
topic_depth_registered_points_id = camera/depth_registered/points
topic_image_rgb_raw_id = camera/rgb/image_raw
topic_image_depth_raw_id = camera/depth/image_raw
topic_image_infrared_raw_id = camera/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-0000:00:14.0-3.1
Serial: 018150165706
/dev/video0

/dev/video1

use camera 018150165706
Directory /home/teamuav/catkin_ws/src/realsense_camera/data/uvmap/018150165706 does not exist!!!!
video rgb name is /dev/video0
video depth name is /dev/video1

============== VIDIOC_QUERYCAP
/dev/video0
driver = uvcvideo
card = Intel(R) RealSense(TM) 3D Camer
bus_info = usb-0000:00:14.0-3.1
version = 0x00031308
capabilities = 0x85200001
device_caps = 0x05200001
reserved[3] = [0x00000000, 0x00000000, 0x00000000]

======================== get
/dev/video0
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

======================== set
/dev/video0
v4l2_pix_format
width = 1280
height = 720
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 2560
sizeimage = 1843200
colorspace = 0
priv = -17970434

============ VIDIOC_S_PARM
/dev/video0
v4l2_streamparm
timeperframe.numerator = 1
timeperframe.denominator = 30

video rgb w,h - 1280, 720

============== VIDIOC_QUERYCAP
/dev/video1
driver = uvcvideo
card = Intel(R) RealSense(TM) 3D Camer
bus_info = usb-0000:00:14.0-3.1
version = 0x00031308
capabilities = 0x85200001
device_caps = 0x05200001
reserved[3] = [0x00000000, 0x00000000, 0x00000000]

======================== get
/dev/video1
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

======================== set
/dev/video1
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

============ VIDIOC_S_PARM
/dev/video1
v4l2_streamparm
timeperframe.numerator = 1
timeperframe.denominator = 30

video depth w,h - 640, 480
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

Any updates on this error?

[BlazingForests]

@Nikvand Hi

Make sure your kernel patch is OK.

You can follow @teknotus 's answer. The guy who made the IR stream kernel patch.

Thx
DD

[Nikvand]

@BlazingForests @teknotus Hi guys is the v4l2-ctl compatible code available for R200? the current code is for F200 and I am getting the same messages when I run my F200 using:

roslaunch realsense_camera realsense_camera_r200_camera.launch

Results:

video depth w,h - 314, 938
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

[teknotus]

@BlazingForests @teknotus Hi guys is the v4l2-ctl compatible code
available for R200? the current code is for F200 and I am getting the same
messages when I run my F200 using:

The controls stuff is F200 specific. The R200 controls work very
differently, and very strangely. There are also many controls on the R200.
It wouldn't be a simple matter to add support for them. The controls don't
have a consistent interface so some would be much easier to add support for
than others. The control to set the scale of z units would be easy. It's
locked while streaming but otherwise sane and acts like an F200 control. It
is just an integer get, or set. Other controls might be a little bit harder
like getting and setting a struct, or a lot harder like a communication
protocol. It is in my to do queue.

https://github.com/teknotus/depthview/tree/udev

[ZahraBoroujeni]

Hi,

I have a new camera SR300, after patching uvc folder and install new uvcvideo.ko, still it could not find IR Stream, any suggestion? I am working on odroid xu4, ubuntu 14.04.

v4l2-ctl --device /dev/video1 --list-formats
ioctl: VIDIOC_ENUM_FMT
    Index       : 0
    Type        : Video Capture
    Pixel Format: 'YUYV'
    Name        : YUV 4:2:2 (YUYV)

    Index       : 1
    Type        : Video Capture
    Pixel Format: 'INVZ'
    Name        : Depth 16-bit (INVZ)

    Index       : 2
    Type        : Video Capture
    Pixel Format: 'INZI'
    Name        : Depth:IR 16:8 24-bit (INZI)

    Index       : 3
    Type        : Video Capture
    Pixel Format: ''
    Name        : 435a4e49-b602-480f-978c-e4e88ae

    Index       : 4
    Type        : Video Capture
    Pixel Format: 'INVI'
    Name        : Infrared 8-bit (INVI)

depthview-udev> ./realsense-map-controls /dev/video1
# 00:17:46 Konrad-1:~/depthview-udev> v4l2-ctl --device=/dev/video1 --list-ctrls-menus
                        privacy (bool)   : default=0 value=0
                    laser_power (int)    : min=0 max=16 step=1 default=16 value=16
                        pattern (menu)   : min=0 max=2 default=0 value=0
                0: 11 patterns 50fps
                1: 10 patterns 55fps
                2: 9 patterns 60fps
                       exposure (int)    : min=0 max=220 step=1 default=9 value=9
                         filter (menu)   : min=0 max=7 default=5 value=5
                0: Skeleton
                1: Raw
                2: Raw + Gradiants
                3: Range optimized < 350mm
                4: Range optimized 350mm - 550mm
                5: Range optimized 550mm - 850mm
                6: Range optimized 850mm - 1000mm
                7: Range optimized > 1000mm
           confidence_threshold (int)    : min=0 max=15 step=1 default=3 value=3

[ZahraBoroujeni]

when I run the rosnode realsense_camera, and subscribe to /camera/rgb/image_raw/compressed topic using my android APP, after 30 seconds the realsense camera node makes an error below:

video depth w,h - 640, 480
RealSense Camera is running!
***** Error in `/root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node': free(): invalid pointer: 0xae54d008 ***
[realsense_node-2] process has died [pid 4526, exit code -6, cmd /root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node camera/rgb/image_raw:=app/camera/rgb/image_raw __name:=realsense_node __log:=/root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2.log].
log file: /root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2*.log**

[ZahraBoroujeni]

Another issue, the depth image output is always white! I do not which setting should I change. any suggestion?

[ZahraBoroujeni]

Another issue: When I want to subscribe to /camera/depth/image_raw/compressedDepth, I received errors below:
[ERROR] [1357000030.096993652]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).

[BlazingForests]

@ZahraBoroujeni Hi, I am very sorry. This project is not tested for SR300.

[ZahraBoroujeni]

@BlazingForests I have also F200, And I have the same issue for F200 as well.

[BlazingForests]

@ZahraBoroujeni Hi

Sorry, There don't have this topic "/camera/rgb/image_raw/compressed"

The default topic are

sensor_msgs::Image
/camera/rgb/image_raw raw image for RGB sensor
/camera/depth/image_raw raw image for depth sensor
/camera/ir/image_raw raw image for infrared sensor

[ZahraBoroujeni]

@BlazingForests Hi
How is it possible?
When you use image publisher, it will automatically publish /compressed and other subtopics!
I can subscribe to /camera/rgb/image_raw/compressed. And I can see the video real time on our android APP, the problem is that after 30 seconds/1 minute the node will crash!
and then I will get error below:

***** Error in `/root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node': free(): invalid pointer: 0xae54d008 ***
[realsense_node-2] process has died [pid 4526, exit code -6, cmd /root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node camera/rgb/image_raw:=app/camera/rgb/image_raw __name:=realsense_node __log:=/root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2.log].
log file: /root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2*.log**

And it is my rostopic list:

> :$ rostopic list
> /camera/depth/camera_info
> /camera/depth/image_raw
> /camera/depth/image_raw/compressed
> /camera/depth/image_raw/compressed/parameter_descriptions
> /camera/depth/image_raw/compressed/parameter_updates
> /camera/depth/image_raw/compressedDepth
> /camera/depth/image_raw/compressedDepth/parameter_descriptions
> /camera/depth/image_raw/compressedDepth/parameter_updates
> /camera/depth/image_raw/theora
> /camera/depth/image_raw/theora/parameter_descriptions
> /camera/depth/image_raw/theora/parameter_updates
> /camera/depth/points
> /camera/depth_registered/points
> /camera/rgb/camera_info
> /camera/rgb/image_raw
> /camera/rgb/image_raw/compressed
> /camera/rgb/image_raw/compressed/parameter_descriptions
> /camera/rgb/image_raw/compressed/parameter_updates
> /camera/rgb/image_raw/compressedDepth
> /camera/rgb/image_raw/compressedDepth/parameter_descriptions
> /camera/rgb/image_raw/compressedDepth/parameter_updates
> /camera/rgb/image_raw/theora
> /camera/rgb/image_raw/theora/parameter_descriptions
> /camera/rgb/image_raw/theora/parameter_updates
> /realsense_camera_config
> /realsense_node/parameter_descriptions
> /realsense_node/parameter_updates
> /rosout
> /rosout_agg
> /tf

Our Android APP which subscribe to /app/camera/rgb/image_raw/compressed
https://github.com/neumann89/android_ros_model_car/tree/master/car_control
I did remapping to see the image!
<remap from="camera/rgb/image_raw" to="app/camera/rgb/image_raw" />