rh_vergence (hydro)

Maintainer: Gerardo Aragon-Camarasa

1. Overview

This package implements a camera vergence algorithm as reported in this paper. This package is structured in two nodes; one is the main implementation of the vergence algorithm while the second node is the main control loop that interface the vergence algorithm with the rest of the stack.

2. Nodes

2.1 RHvergence_node

This node implements the main vergence algorithm (computation of the disparity histogram and quantization of the percentage of vergence between images).

2.1.1 Subscribed Topics

Topic message where SIFT features, descriptors for the left and right camera are published.

2.1.2 Published Topics

Topic message where the resultant quantized disparity in the horizontal and vertical axis are published.

2.2 RHvergence_main

Node that loops until the cameras are verged. This node publishes a topic to notify when the cameras are verged. This happens when the disparities are below a vergence tolerance error.

2.2.1 Subscribed Topics

Topic message where the resultant quantized disparity in the horizontal and vertical axis are published.

2.2.2 Published Topics

Topic that publishes when the cameras are verged or not.

Main topic that contains position and velocity information in order to move the PTU units.

2.1.3 Services Called

Gets the current state of the PTU units in radians.

2.1.4 Parameters

  • /RH/vergeTolerance (double)

Vergence tolerance error. This is given in percentage and it should be roughly 1% of the image width used.

  • /PTU/stepsPerPixelX (double)
  • /PTU/stepsPerPixelY (double)

Steps per pixel ratio in X and Y axes, respectively, as described in Actuator calibration MATLAB functions.

  • /PTU/pan_left_res (double)
  • /PTU/tilt_left_res (double)
  • /PTU/pan_right_res (double)
  • /PTU/tilt_right_res (double)

Resolution of the pan and tilt units.

  • /CAM/capturemode (float)

This controls the capturing mode of the cameras. "0" indicates full resolution mode (16 MP) whereas "1", preview mode (VGA resolution). If it is not set, "RHcam_left" node sets it to the mode given in the message "/RH/cmd/acquire".