ROS-Driver for TIS USB3 Vision Cameras

Currently tested on Ubuntu 20.04 with ROS Noetic, on an AMD64 system, using a 37AUX462 USB3 Vision camera.

Camera Driver Installation Guide

The camera driver has two components

• tiscamera which is the core driver
• tiscamera-dutil which contains many additional useful features, such as tonemapping

Prequest

1. Install GStreamer

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio

2. Install Python Depencies

python3-gi python3-pyqt5

2. Uninstall if only if exist tiscamera driver

sudo apt remove tiscamera

3. For ARM64

gstreamer-1.0 libusb-1.0 libglib2.0 libgirepository1.0-dev libudev-dev libtinyxml-dev libzip-dev libnotify-dev

Build from Debian (.deb)

The files exist in tis_camera_driver/sdk. Just take care that you system AMD64 or ARM64

• tiscamera_0.12.0 which is the core driver
• tiscamera-dutils_1.0.0 which contains many additional useful features, such as tonemapping
• Change directory to tis_camera_driver/sdk and you can install as sudo apt install tiscamera_0.12.0_amd64.deb and

Note:

• As of Jan 2021, we are using version 0.12.0
• For TX2 or Xavier, if cannot build from source, can try to install the official compiled tiscamera package tiscamera_0.12.0_arm64.deb directly.

However, it is strongly recommanded to build from source, for the main tiscamera driver, especially on Nvidia arm64 platform. https://github.com/TheImagingSource/tiscamera/releases

Build from Source

Clone https://github.com/TheImagingSource/tiscamera and checkout the release version

git clone https://github.com/TheImagingSource/tiscamera.git && cd tiscamera
./scripts/dependency-manager install
git checkout v-tiscamera-0.12.0
mkdir build && cd build
cmake -DBUILD_TOOLS=ON -DBUILD_ARAVIS=OFF ..
make
sudo make install

Installation

Create a workpsace as tis_ws/src and change your directory to tis_ws/src

git clone https://github.com/cyhunblr/tis_camera_driver
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release

Running

source devel/setup.bash
roslaunch tis_camera_driver tis_camera.launch

Configuration

1. tis_camera_driver/config

• You need to know your camera's serial number and set this parameter in config/configuration.yaml.
• You can view and modify other parameters if necessary.

2. tis_camera_driver/intrinsics

• The tis_front_cam.yaml file is the output from the camera_calibration package.
• If you do not set the intrinsic file, camera info will not be published.

Acknowledgement

(tiscamera_ros)

Issue

1. If tcam lib not found, you have to apply Build from Source.

TODO

• Publish Rectified Image
• Add some other parameter ex. exposure, gain, etc.
• Clean and prepare the interface
• Implementation to ROS2
• Seperate the branch AMD64 and ARM64