cis_camera

This package contains ROS driver nodes for CIS Corporation ToF Camera Sensor DCC-RGBD1 with USB 3.0 interface.

System Configurations

• OS / ROS
  • Ubuntu 16.04 / ROS Kinetic
  • Ubuntu 18.04 / ROS Melodic
• USB 3.0 Port
• CIS ToF Camera Sensor DCC-RGBD1

CIS ToF Camera Sensor DCC-RGBD1

• Camera system
  • Dimensions : H:50mm x W:55mm x D:35mm ( Protruding parts are not included )
  • Weight : 110 g
  • Frame rate : 30 fps
• RGB camera
  • 1/3” CMOS image sensor
  • Global shutter operation
  • QVGA : 1280 x 960
  • M12 lens
• Depth / IR camera
  • 1/4” CCD image sensor
  • VGA : 640 x 480
  • M12 lens
  • Output : Depth and IR images
  • Depth sensing type: ToF ( Time-of-Flight )
  • Depth range
    • mode 0 : 300 - 5000 mm
    • mode 1 : 150 - 700 mm
• NIR light source
  • 2 Laser Diodes : 850nm / Class 1
• USB output
  • USB 3.0 micro B
  • UVC interface
  • Images
    • RGB : YUV422 - 1920 × 960
    • IR : Gray 16bit - 640 × 480
    • Depth : Gray 16bit - 640 × 480
• Power source
  • DC 12V, 3A

Quick Start

Installation

Installing ROS

Install “ROS Desktop Full” on Ubuntu PC.

• ROS Kinetic for Ubuntu 16.04
  • http://wiki.ros.org/kinetic/Installation/Ubuntu
• ROS Melodic for Ubuntu 18.04
  • http://wiki.ros.org/melodic/Installation/Ubuntu

Installation of cis_camera

$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/camera_ws/src
$ cd ~/camera_ws/src
$ catkin_init_workspace
$ git clone https://github.com/tork-a/cis_camera.git
$ cd ~/camera_ws
$ rosdep install -y -r --from-paths src --ignore-src
$ catkin_make
$ source ~/camera_ws/devel/setup.bash

• NOTE: Replase $ROS_DISTRO to the ROS distribution of your system, kinetic or melodic.

Device Permission Configuration

For the first time you start using CIS ToF camera, run set_udev_rules to set CIS ToF camera device permission configuration with entering sudo password in responce to program input.

$ source ~/camera_ws/devel/setup.bash
$ rosrun cis_camera set_udev_rules

• NOTE : This process is needed only once after the installations on your Ubuntu PC.

Connecting Camera

1. Connect the camera to the USB 3.0 port of your Ubuntu PC
2. Connect the external power source to the camera and turn it on

• NOTE : It takes about 4 seconds for the camera to start up normally after the external power is turned on.

Launching Software

PointCloud

To see the pointcloud with RViz.

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