Carnegie Robotics provides product support for our MultiSense line through several means:
All of our products have supported ROS drivers, and the images above link to documentation about the products and information about installing and using the ROS driver. Generally, we recommend customers use ROS to interface to our sensors unless otherwise required.
If you cannot use ROS, we have an open source C++ library called LibMultiSense which allow for direct communication and control of any MultiSense sensor from Linux and Windows, please see its documentation for more information.
Version 3.4.7 of the MultiSense ROS driver for the CRL MultiSense line of products was released on 3/4/2016.
This version adds in support for a new MultiSense DeviceStatus message that contains information about the internal condition (power, temperature, and status) of the MultiSense. It also replaces the MultiSense SL calibration check utility with a version that no-longer relies on a MATLAB runtime being installed.
MultiSense Firmware v3.4 firmware incorporates the following new features:
- Add support for persistent imager gain and black-level offset adjustments
- Add in external calibration non-volatile storage
- Add support for external lighting on S21 cameras
- Add additional device status messages
Version 3.4.5 of the MultiSense ROS driver for the CRL MultiSense line of products was released on 10/20/2015.
This version changes image encoding types from 8UC1/16UC1 to mono8/mono16 data formats. In some versions of ROS these types are not equivalent which was causing processing and display issues for some customers.
This firmware release fixes an issue when subscribing to only cost or right disparity images.
Here are detailed instructions on how to upgrade the on-board software on the sensor can be found.
Also, here is where to download the 3.3 firmware release .
The MultiSense ROS driver was updated on 6/22/2015.
Issue 48 : Adds an effort field to the joint states topic.
Issue 50 : Adds support for a new topic /multisense/openni_depth which follows the OpenNI Raw depth format. This topic version uses less bandwidth than the traditional depth image and is able to be compressed with image transport.
Documentation was added to the Depth Camera section.
More information about these changes can be found in the ROS driver documentation.
The current version 3.5 release of LibMultiSense includes support for compiling with Microsoft Visual Studio. Here are the installation instructions.
Release 3.5 also removes the OpenCV dependency from LibMultiSense.
The Cloud Demo Software Suite is a set of open-source demo applications showing usage of Carnegie Robotic's MultiSense stereo products including the S7 and S21.
Note that these software packages generally assume operation with the 2 MP version of CRL's stereo systems and will need some tweaking to work with 4 MP imagers.
Here are the installation and build instructions.
We are now hosting documentation for LibMultiSense at http://docs.carnegierobotics.com/libmultisense/. As new versions of LibMultiSense are released, this documentation will be updated. You can generate this HTML documentation yourself by installing and running the Doxygen tool on the checked out LibMultiSense source code.
Instructions and example code on how to create a Q reproduction matrix from MultiSense calibration information.
All of our MultiSense SL, S7, S7S, and S21 sensors are offered in two different versions: with 2 megapixel (CMV2000) and 4 megapixel (CMV4000) imagers from CMOSIS. This document describes the differences between the two versions
The Multisense-SL unit stores a unique calibration to transform laser range data into the left camera optical frame. This calibration is comprised of two static transforms; one from the motor frame to the left camera frame, the other from the laser frame to the spindle frame. There is an additional transform between the spindle frame and the motor frame which accounts for the rotation of the laser. The Multisense-SL ROS driver automatically generates a transform tree based off these three transforms. Additionally both the ROS driver and the underlying API offer mechanisms to perform custom transformations of laser data. The document details this transform tree and provide a basic example of how to perform this transformation.