OpenCV Installation
Contents
OpenCV 2.4
Jade
OpenCV 2.4
Install
apt-get install ros-jade-vision-opencv sudo apt-get install opencv-doc
Source
Needed for samples
git clone https://github.com/Itseez/opencv
Links
Electric
2012 on FitPC.
I Heart Robotics
I Heart Robotics installation instructions and tutorials.
usb_cam Driver
Installation
Install the usb_cam drivers for ROS.
As root
cd /opt/ros/electric/stacks svn co https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg source ../setup.sh cp -r bosch-ros-pkg/trunk/stacks/bosch_drivers/usb_cam . cd usb_cam
Remove the <rosdep name="libswscale-dev"/> line from manifest.xml. A check of Synaptic shows libswscale-dev is there. However, the following step will fail if this line is present.
rosdep install usb_cam rosmake usb_cam
Webcam View Test
In user space create usb_cam.launch with the following content.
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="320" />
<param name="image_height" value="240" />
<param name="pixel_format" value="mjpeg" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
<remap from="image" to="/usb_cam/image_raw"/>
</node>
</launch>
Then execute it.
roslaunch usb_cam.launch
ihr_opencv
Installation
Install the OpenCV vision library using packages from I Heart Robotics.
Install git-core with Synaptic.
Then install opencv as root.
cd /opt/ros/electric/stacks/ git clone git://github.com/IHeartRobotics/iheart-ros-pkg.git source ../setup.sh cd iheart-ros-pkg/ihr_demos/ihr_opencv/ rosdep install ihr_opencv rosmake ihr_opencv
Reindex the two oranges files. Otherwise, you'll get an error message that the two_oranges.bag file is unindexed.
root@tabor:bags# cd /opt/ros/electric/stacks/iheart-ros-pkg/ihr_demos/ihr_demo_bags/bags root@tabor:bags# rosbag reindex two_oranges.bag two_oranges.bag 100% 19.8 MB 00:00 two_oranges.bag 100% 19.8 MB 00:00
Canned Image Test
From users space.
eepp@tabor:~/ros_workspace/webcam$ roslaunch /opt/ros/electric/stacks/iheart-ros-pkg/ihr_demos/
ihr_demo_bags/launch/demo.launch
It will display the following canned image.
Live OpenCV Test
To test OpenCV live enter the following. It will detect oranges in the display field of the webcam.
eepp@tabor:~/ros_workspace$ roslaunch /opt/ros/electric/stacks/iheart-ros-pkg/ihr_demos/ ihr_opencv/launch/live_hough.launch
What follows is an example image.
The terminal will also display status information along with the coordinates and radius of the detected orange.
15 frames/sec at 1336967181.169897841 [ INFO] [1336967181.398723572]: x: 73 y: 201 r: 24 [ INFO] [1336967181.498611975]: x: 72 y: 200 r: 23 [ INFO] [1336967181.672332369]: x: 70 y: 196 r: 20 [ INFO] [1336967181.892526277]: x: 68 y: 200 r: 24 [ INFO] [1336967182.093009586]: x: 71 y: 195 r: 22 14 frames/sec at 1336967182.115750742 [ INFO] [1336967182.372296473]: x: 73 y: 195 r: 22 [ INFO] [1336967182.600016483]: x: 75 y: 195 r: 22 16 frames/sec at 1336967183.182737183 15 frames/sec at 1336967184.179627852
