pleora_polarcam

ROS driver and image processing toolbox for imprex polar-cameras based on Pleora’s eBUS™ Software Development Kit (SDK)

The driver was originally cloned from IRALab ira_photonfocus_driver repository.

Management of the repo

The current version of the repo contains three branches:

• master (8_bts_process)
• 10_bts_process

You are on the branch ** 8_bts_process **

Each user should fork the project or clone (if they have the admin permision) and in their user space create extra branches if they like. In case of merging the new created branch with any of the existing branches, the users can request a PR (pull request).

Running the program

Assuming the pleora SDK and ROS requirements are installed, and the package is compiled with catkin_make to run the package use:

Using rosrun

Initialize a roscore

In a terminal

	roscore 

Finding the ip of the camera and strating the driver

In another terminal

	rosrun pleora_polarcam find_camera

This will return the ip of the camera to be used

	rosrun pleora_polarcam pleora_poalrcam_driver _ip:=THE_IP_FROM_FIND_CAMERA

Showing images

• angle

	rosrun pleora_polarcam pix2image_node 'angle'

or

	rosrun pleora_polarcam process_angles_node 

• stokes

	rosrun pleora_polarcam pix2image_node 'stokes'

or

	rosrun pleora_polarcam process_stokes_node

• polarized parameters (DoP, AoP and S0)

	rosrun pleora_polarcam pix2image_node 'polar'

or

	rosrun pleora_polarcam process_polar_node 

Saving images

	rosrun pleora_polarcam pix2image_node  'angles/polar/stokes' save

Using roslaunch

First the ip address of the camera in the pleora_polarcam_driver.launch file should be adjusted to the found ip of the camera Second remeber ther is no need for roscore

Starting the driver

	roslaunch pleora_polarcam pleora_polarcam_driver.launch

Showing only

• angle images

	roslaunch pleora_polarcam show_angle_images.launch

• stokes images

	roslaunch pleora_polarcam show_stokes_images.launch

• polarized parameters

	roslaunch pleora_polarcam show_polar_images.launch

Showing and Saving the images

• angles

	roslaunch pleora_polarcam save_angle_images.launch

• stokes

	roslaunch pleora_polarcam save_stokes_images.launch

• polarized parameters

	roslaunch pleora_polarcam save_polar_images.launch