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 4.0.0 of the MultiSense ROS driver for the CRL MultiSense line of products was released on 2/6/2016. The version includes:
- Xacro formats for all MultiSense cameras (SL, S7, S21) which allow easy standalone use and embedded use of the MultiSense URDF model in systems.
- Support and dynamic reconfigure interface for new Firmware Version 3.5 which allows a 4MP imagers to be windowed as 2MP and the window position to be adjusted.
- Dynamic reconfigure interface for adjustable transmit delay, a new feature of Firmware Version 3.5 feature.
This firmware release incorporates the following new features:
- Added ability for 4MP models to be cropped to a 2MP ROI (and run at the higher 2MP frame rates), as well as allow the cropped view to be moved vertically throughout the native 4MP FOV. Note that adjustment of the position of the ROI will pause the data stream as rectification look up table have to be recalculated by the MicroBlaze processor.
- Added new network delay function to allow delaying MultiSense data from being sent over the network. Typical use case is to lower instantaneous network bandwidth for multi-MultiSense synchronized systems.
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
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.
The installation and build instructions are on our BitBucket code site.
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.