描述

• 在大恒水星二代USB3.0相机301-125U3C上通过测试，现可在.launch文件中修改相机分辨率、自动增益、帧率、白平衡、曝光时间以及BINNING模式等参数.
• 欲添加其余参数，可以参考galaxy_camera.cpp中void GalaxyCamera::writeConfig()进行修改，同时可参考GxIAPI.h，因为所有接口已在头文件内定义。

调试日志

• 添加了binning模式，在降低相机分辨率的同时保持图像范围不变，减小vinmonos图像处理压力以提高实时性。

galaxy_camera

ROS wrapper for the galaxy camera made by Daheng Imaging.

Forked from QiayuanLiao/git@github.com:QiayuanLiao/galaxy_camera.git

Dependencies:

• ROS Melodic
• gxiapi

ONLY TESTED ON MER2-302!!! Updated on 2022.04.10: Already Tested on MER2-301.

Getting started

Install dependencies

• ROS - http://wiki.ros.org/ROS
• gxiapi: - download Galaxy_Linux-x86_Gige-U3_32bits-64bits_1.2.1911.9122 from http://gb.daheng-imaging.com/CN/Software and install

Download and build code

This is a ros_packages,you should put it in your ROS workspace.

1. Get the source:

git clone git@github.com:QiayuanLiao/git@github.com:QiayuanLiao/galaxy_camera.git

2. Make in your workspace

catkin_make
source devel/setup.bash

Test

1. Connect the camera by USB, run:

roslaunch galaxy_camera MER-139.launch

check the image on rqt_image_view.

2. Adjust the params in launch file.

3. Calibrate:

rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.030 image:=/galaxy_camera/image_raw camera:=/galaxy_camera

4. More information: http://wiki.ros.org/image_pipeline

TODO

• Multi-camera support
• nodelet support
• test on other device