{"action":"opened","issue":{"url":"https://api.github.com/repos/BlazingForests/realsense_camera/issues/16","labels_url":"https://api.github.com/repos/BlazingForests/realsense_camera/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/BlazingForests/realsense_camera/issues/16/comments","events_url":"https://api.github.com/repos/BlazingForests/realsense_camera/issues/16/events","html_url":"https://github.com/BlazingForests/realsense_camera/issues/16","id":119741978,"number":16,"title":"R200 support","user":{"login":"severin-lemaignan","id":385379,"avatar_url":"https://avatars.githubusercontent.com/u/385379?v=3","gravatar_id":"","url":"https://api.github.com/users/severin-lemaignan","html_url":"https://github.com/severin-lemaignan","followers_url":"https://api.github.com/users/severin-lemaignan/followers","following_url":"https://api.github.com/users/severin-lemaignan/following{/other_user}","gists_url":"https://api.github.com/users/severin-lemaignan/gists{/gist_id}","starred_url":"https://api.github.com/users/severin-lemaignan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/severin-lemaignan/subscriptions","organizations_url":"https://api.github.com/users/severin-lemaignan/orgs","repos_url":"https://api.github.com/users/severin-lemaignan/repos","events_url":"https://api.github.com/users/severin-lemaignan/events{/privacy}","received_events_url":"https://api.github.com/users/severin-lemaignan/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-12-01T15:34:48Z","updated_at":"2015-12-01T15:34:48Z","closed_at":null,"body":"The R200 RGDB camera does not work yet.\r\n\r\nHere a sample output of `realsense_camera_node`:\r\n\r\n```\r\n $ ./devel/lib/realsense_camera/realsense_camera_node _realsense_camera_type:=\"Intel RealSense 3D Camera R200\"\r\n\r\n\r\n===================\r\nrealsense_camera_type = Intel RealSense 3D Camera R200\r\nrgb_frame_id = _rgb_optical_frame\r\ndepth_frame_id = _depth_optical_frame\r\ndepth_unit = 31.250000\r\ndepth_scale = 0.001000\r\ndepth_fxinv = 0.002156\r\ndepth_fyinv = 0.002156\r\ndepth_cx = 320.000000\r\ndepth_cy = 240.000000\r\ndepth_uv_enable_min = 0\r\ndepth_uv_enable_max = 2047\r\ntopic_depth_points_id = /depth/points\r\ntopic_depth_registered_points_id = /depth_registered/points\r\ntopic_image_rgb_raw_id = /rgb/image_raw\r\ntopic_image_depth_raw_id = /depth/image_raw\r\ntopic_image_infrared_raw_id = /ir/image_raw\r\ndebug_depth_unit = 0\r\nrgb_camera_info_url = \r\nir_camera_info_url = \r\n=======================\r\n\r\n\r\ndepthWithIRStream - NOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO\r\nif you want IR stream, please visit\r\nhttp://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html\r\nhttps://github.com/teknotus/depthview/tree/kernelpatchfmt\r\n\r\n===========================================\r\nIntel(R) RealSense(TM) 3D Camera lists\r\n\r\nPCI: usb-0000:00:14.0-2\r\nSerial: SN_2211011528\r\n\t/dev/video1\r\n\t/dev/video2\r\n\t/dev/video3\r\n===========================================\r\n\r\nuse camera SN_2211011528\r\nDirectory /home/skadge/ros-dev/share/realsense_camera/data/uvmap/SN_2211011528 does not exist!!!!\r\nvideo rgb name is /dev/video1\r\nvideo depth name is /dev/video2\r\n\r\n============== VIDIOC_QUERYCAP\r\n/dev/video1 \r\n   driver = uvcvideo\r\n   card = Intel RealSense 3D Camera R200\r\n   bus_info = usb-0000:00:14.0-2\r\n   version = 0x00040202\r\n   capabilities = 0x85200001\r\n   device_caps = 0x05200001\r\n   reserved[3] = [0x00000000, 0x00000000, 0x00000000]\r\n\r\n\r\n======================== get\r\n/dev/video1 \r\nv4l2_pix_format\r\n   width = 320\r\n   height = 962\r\n   pixelformat_value = 0x56595559\r\n   pixelformat = YUYV\r\n   field = 1\r\n   bytesperline = 640\r\n   sizeimage = 615680\r\n   colorspace = 0\r\n   priv = -17970434\r\n\r\n\r\n======================== set\r\n/dev/video1 \r\nv4l2_pix_format\r\n   width = 320\r\n   height = 962\r\n   pixelformat_value = 0x56595559\r\n   pixelformat = YUYV\r\n   field = 1\r\n   bytesperline = 640\r\n   sizeimage = 615680\r\n   colorspace = 0\r\n   priv = -17970434\r\n\r\n\r\n============ VIDIOC_S_PARM\r\n/dev/video1 \r\nv4l2_streamparm\r\n   timeperframe.numerator = 1\r\n   timeperframe.denominator = 60\r\n\r\nvideo rgb w,h - 320, 962\r\n\r\n============== VIDIOC_QUERYCAP\r\n/dev/video2 \r\n   driver = uvcvideo\r\n   card = Intel RealSense 3D Camera R200\r\n   bus_info = usb-0000:00:14.0-2\r\n   version = 0x00040202\r\n   capabilities = 0x85200001\r\n   device_caps = 0x05200001\r\n   reserved[3] = [0x00000000, 0x00000000, 0x00000000]\r\n\r\n\r\n======================== get\r\n/dev/video2 \r\nv4l2_pix_format\r\n   width = 314\r\n   height = 938\r\n   pixelformat_value = 0x56595559\r\n   pixelformat = YUYV\r\n   field = 1\r\n   bytesperline = 628\r\n   sizeimage = 589064\r\n   colorspace = 0\r\n   priv = -17970434\r\n\r\n\r\n======================== set\r\n/dev/video2 \r\nv4l2_pix_format\r\n   width = 628\r\n   height = 469\r\n   pixelformat_value = 0x00000000\r\n   pixelformat = \r\n   field = 1\r\n   bytesperline = 1256\r\n   sizeimage = 589064\r\n   colorspace = 0\r\n   priv = -17970434\r\n\r\n\r\nVIDIOC_S_PARM error 5, Input/output error\r\n\r\nv4l2_munmap error 22, Invalid argument\r\nopen /dev/video2 error!!!!!!!!\r\n```\r\n\r\nNote that the video streams of the camera are visible in VLC/guvcview, but interestingly 3 `/dev/video` devices are available while the F200 creates only 2.\r\n`/dev/video0` and `/dev/video1` look both like depth maps (but not the same data, though), while `/dev/video2` is the RGB stream."}}