MultiSense Firmware v4.0 Released

This firmware release incorporates the following new features:

  • Support for the new motor controller inside the MultiSense SLB.
  • Support for the MultiSense S21 pattern projector lighting type.
  • Support for inverted external triggering (trigger on rising edge of pulse instead of falling edge). A LibMultiSense release with support for this configuration is forthcoming.
  • Sensor calibration message now includes the 'vramp' setting, and MultiSense cameras ship with matched imager gains.
  • Fixed IMU scaling factors.
  • Fixed a memory leak in the debug 'telnet' server.

 

Detailed instructions on how to upgrade the on-board software on the sensor can be found in the MultiSense documentation and the firmware is available for download here.

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MultiSense ROS Driver 4.0.0

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.
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MultiSense Firmware v3.5 Released

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.

 

Detailed instructions on how to upgrade the on-board software on the sensor can be found in the MultiSense documentation and the firmware is available for download here.

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MultiSense ROS Driver v3.4.7

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.  

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MultiSense Firmware v3.4

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

 

Detailed instructions on how to upgrade the on-board software on the sensor can be found in the MultiSense documentation and the firmware is available for download here.

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MultiSense ROS Driver v3.4.4

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.

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Cloud Demo Software Suite Released

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.

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