phoxi_camera

This package enables interfacing Photoneo PhoXi 3D Scanner/Camera from ROS.

###Install phoxi_camera package depends on several state-of-the-art libraries and latest version of g++ compiler. Script install_prerequisities.sh which is available in main repo folde install all packages and libraries required for successfull phoxi_camera compilation. Follow steps below to get phoxi_camera package working properly on your system:

cd catkin_ws/src
git clone https://github.com/photoneo/phoxi_camera.git
cd phoxi_camera
chmod +x install_prerequisities.sh
./install_prerequisities.sh
cd ../..
catkin_make

###Test PhoXi ROS interface without real 3D scanner It is possible to test PhoXi ROS interface without real hardware.

• Start PhoXiControl application
• Launch simple test exampleroslaunch phoxi_camera phoxi_camera_test.launch
• Application should connect to the camera and start aquiring example pointclouds
• Notice that pointcloud data are also being published on ROS topics
• Use available ROS services to control the dummy camera.

####Available ROS services

/phoxi_camera/connect_camera
/phoxi_camera/disconnect_camera
/phoxi_camera/get_device_list
/phoxi_camera/get_frame
/phoxi_camera/get_hardware_indentification
/phoxi_camera/get_loggers
/phoxi_camera/get_supported_capturing_modes
/phoxi_camera/is_acquiring
/phoxi_camera/is_connected
/phoxi_camera/save_frame
/phoxi_camera/set_logger_level
/phoxi_camera/set_parameters
/phoxi_camera/start_acquisition
/phoxi_camera/stop_acquisition
/phoxi_camera/trigger_image
/phoxi_camera_example/get_loggers
/phoxi_camera_example/set_logger_level

####Available ROS topics

/phoxi_camera/confidence_map
/phoxi_camera/normal_map
/phoxi_camera/parameter_descriptions
/phoxi_camera/parameter_updates
/phoxi_camera/pointcloud
/phoxi_camera/texture

###Test PhoXi ROS interface with real device

• Start PhoXiControl application
• Connect to your device
• Run Interface node rosrun phoxi_camera phoxi_camera
• Use available ROS services to control your 3D scanner

See phoxi_camera ROS Wiki page for further details.