Rvidere is a multi-camera RGB-D network system, that uses ROS, to transmit their RGB and Depth images into a Server. The utilized cameras are Intel's RealSense™ 3D Camera ZR300 that are connected to an Upboard where some local processing is performed before transmitting the data.
- After turning on the power on the system.
- Make sure the cameras are connected to the switch and that the switch is connected to the main server
- Wait a minute so that the UpBoards properly boot up
- On the server go to
/home/sipg_server/Rvidere - And run this command:
bash shellscripts/startsystem.sh - After that open up a terminal on the server and open
rviz, where you will se images of what is being transmitted. You can alsorostopic listto see all the ROS topics being transmitted.
Once you are done, run bash shellscripts/stopsystem.sh to stop the data transmission. Also, don't forget to turn of the system's power 😊
If for some reason you cannot see the images in rviz, don't worry, restart it all (pull the plug of the cameras and restart the server) and repeat the process. If it still doesn't work please refer to the Trouble page.
Simply run bash shellscripts/record.sh, a rosbag with depth and RGB images will be saved in the current directory.
Press Ctrl+C when you wish to stop recording.
All the 4 cameras in the system, transmit the same set of topics. The recomendend topics to obtain depth registere images, rgb images and for their intrinsic parameters are:
/CAMERA_NAME/thefutureisnow/rgb/CAMERA_NAME/thefutureisnow/depth/CAMERA_NAME/rgb/camera_info/CAMERA_NAME/depth/camera_info
The camera names are:
- speedwagon
- killerqueen
- emperorcrimson
- diavolo
More detailed documentation of the whole system, with information about using, debugging, expanding and altering and accessing it can be found in here.