Welcome to RDK Official Binocular Camera repository

Binocular MIPI Image Acquisition

Function Introduction

To achieve 3D environmental perception, robots typically incorporate sensors such as binocular cameras and Time-of-Flight (ToF) sensors. To reduce user costs associated with sensor adaptation and usage, TogetheROS.Bot encapsulates various commonly used sensors and abstracts them into the hobot_sensor module, supporting ROS standard image messages. When the configured sensor parameters do not match the connected camera, the program automatically adapts to the correct sensor type. Currently supported MIPI sensor types are as follows:

code repository：https://github.com/D-Robotics/hobot_mipi_cam.git

Supported Platforms

Preparation

RDK Platform

1.Confirm that the camera is correctly connected to the RDK motherboard.

RDK X5 access method

S100(P) access method

With the power off, the camera expansion board switches are set to LPWM and 3.3V respectively.

Camera wiring

2.The RDK has already burned the Ubuntu 22.04 system image.

3.RDK has successfully installed tros.b

4.Confirm that the PC can access RDK via the network.

How to use

Log in to RDK via SSH

Start the hobot_sensor node using the following command.

# Configure the tros.b environment
source /opt/tros/humble/setup.bash

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# Launch mode
ros2 launch mipi_cam mipi_cam_dual_channel.launch.py

To view images from a stereo camera on the web, since the raw data needs to be published, a node encoding JPEG images and a node publishing via a web service are required. The startup command is as follows:

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# Configure the tros.b environment
source /opt/tros/humble/setup.bash

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# Launch mode
ros2 launch mipi_cam mipi_cam_dual_channel_websocket.launch.py

Open a browser on your PC (Chrome/Firefox/Edge) and enter http://IP:8000 (where IP is the RDK IP address). Click on the Web display in the upper left corner to see the real-time output from the binoculars.

Precautions

1. Precautions for Camera Insertion and Removal

   It is strictly forbidden to insert or remove the camera while the development board is powered on, otherwise the camera module may be easily damaged.

2. If you encounter a startup error with the hobot_sensor node, you can troubleshoot the problem using the following steps:

   Check the hardware connection;

   Check if the tros.b environment is configured;

   Check if the parameters are correct, please refer to README.md for details;