PlayStation4 stereo camera package for ROS

WARNING

This package is experimental and not completed.
You need to hack (cut and solder) the PS4 camera's cable. It may damage your device. Do it at your own risk.
The PS4 camera is USB 3.0 only and is not compatible with USB 2.0 systems.

Requirements

You need a ps4eye camera PlayStation Camera CUH-ZEY1J
You need to hack the cable. See PS4eye.
You may need newer linux kernel. Kernel version 3.17.3 is OK. 3.16.0 is NG.

If you are using ubuntu, please check this page to update kernel
You'll need Pyusb 1.0 or the script executed in the udev rules will silently fail. sudo pip install --pre pyusb

Usage

Run create_udev_rules. Enter sudo password to place /etc/udev/rules.d/91-ps4eye.rules. You need this step only once.

$ rosrun ps4eye create_udev_rules

Plug your ps4eye to USB 3.0 port.
Check if you can obtain the image from ps4 camera by webcam software (cheese, camorama, etc).
Run stereo.launch. DEVICE option is used specify video device. You can bring up stereo viewer if viewer option is true.

$ roslaunch ps4eye stereo.launch DEVICE:=/dev/video0 viewer:=true

If you want to run the viewer individually, use this command.

$ rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color

Now you can see disparity image from the stereo camera. Done!

About ps4eye folder's contents

ps4eye folder contains files:

script/firmware.bin
script/ps4eye_init.py

Both files are originally from ps4eye project: https://github.com/ps4eye. Source code and binary are downloadable from there. This package include the two files only for convinience.

ps4eye_init.py is from hyaguchijsk's branch: https://github.com/hyaguchijsk/ps4eye/tree/use_full_path_to_load_firmware to make it easy to call from ROS system.

Thanks