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NVIDIA-ISAAC-ROS / isaac_ros_argus_camera

ROS 2 packages based on NVIDIA libArgus library for NVIDIA-accelerated CSI camera support.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Arducam IMX219 Camera Info Message #2

Closed kaganerunsal closed 2 years ago

kaganerunsal commented 2 years ago

Hello,

I am using a Jetson Xavier NX development board for my project. I have Arducam-IMX219, which are natively supported. Nearly for all my projects with ROS and camera, I was using the camera calibration tool (http://wiki.ros.org/camera_calibration) to obtain camera intrinsic parameters, save them as .yaml or .ini, the give this as a parameter to ROS camera driver such as usb_cam (http://wiki.ros.org/usb_cam) to successfully publish camera_info message. As I understand isaac_ros_argus_camera node expects these parameters stored in EEPROM of camera which I think is not possible for every brand. Is there way to run this node with this kind of parameter file (.yaml or .ini)? Thanks a lot in advance.

glonv commented 2 years ago

Argus Calibration data API is public and not limited by any type of storage or brand. isaac_ros_argus_camera currently doesn't support calibration file input but this will be considered in the future release.

hemalshahNV commented 2 years ago

With Isaac ROS EA2.1, we were able to get in a camera_info_url parameter to the monocular nodes at least to solve your issue (reads from a yaml file and publishes the CameraInfo rather than read from EEPROM only). We'll add the same for stereo node soon. Let us know if it works for you!

kaganerunsal commented 2 years ago

It is a good news. Thank you. I will try and inform you.

gordongrigor commented 2 years ago

Closing as it's been 180+ days for validation of the fix.