OCCAM SETUP INSTRUCTION

Installation

1. Clone this repository

git clone https://github.com/CityU-MBE/occam_ros.git

or

git clone [email protected]:CityU-MBE/occam.git

2. Setup udev rule for the occam

Execute the following command

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="285e", ATTRS{idProduct}=="3efd", MODE="0666", GROUP="plugdev", SYMLINK+="occam"' | sudo tee /etc/udev/rules.d/occam.rules

3. Build the occam SDK

Go into 'occam_sdk'

mkdir release
cd release
cmake -DUSE_OPENCV=1 -DUSE_OPENGL=1 ..
make

Test

Execute the following program: bin/read_images_opencv You should see the output from both camera sets Make sure both USB cables are plugged in

3. Build the ROS node

Adapt the absolute path to the sdk in occam_node/CMakeLists.txt on line 20:

set(INDIGOSDK_PATH "/<absolute/path/to/the/repo>/occam/occam_sdk")

Link the package to your src folder in the catkin workspace:

ln -sf <path/to/occam_node> <path/to/catkin_ws/src>

Run catkin_make or catkin build in your catkin_ws

Test

There is an example roslaunch file in the occam_node:

roslaunch viewStichedImage.launch

You should see the stiched output stream from one camera rig