Photoneo MotionCam3D `ColorCamera` component support (raw RGB)

[bmegli]

Overview

Launchfile support forColorCamera component including:

• calibration in various resolutions
• extrinsics (transform publishing)

Note

ColorCamera is different from Intensity color texture aligned to Range by device

This is raw RGB data.

Example

roslaunch camera_aravis photoneo_motioncam.launch enable_intensity:=false enable_color_camera:=true

rqt_image_view /camera/ColorCamera/image_raw

# add TF
# set fixed_frame_id to range_optical_frame
rviz

Calibration

Calibrations were generated using

• ER ColorCameraCalibrationToROS
  • 3 variants automatically loaded for corresponding resolutions

Extrinsics were generated using

• ER ColorCameraExtrinsicsToROS