Usb cam
From wikidb
Contents
Indigo
Follow instructions below for Indigo.
Jade
Link
- ROS image_view
- Build it which I didn't.
- Bosch git repository
- Why usb_cam
Install Webcam Support
sudo apt-get install ros-jade-usb-cam dpkg -L ros-jade-usb-cam
Note /opt/ros/jade/lib/usb_cam/usb_cam_node.
sudo apt-get install ros-jade-image-view
Hardware
Test
roscore must be running in another window.
roscore
Start up a usb_cam publisher and a display subscriber. First create the following launch script. (There is a missing head_camera.yaml problem.)
cat scripts/usb_cam.launch
<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>
roslaunch scripts/usb_cam.launch
...
[ INFO] [1439068356.939225858]: using default calibration URL
[ INFO] [1439068356.939354287]: camera calibration URL: file:///home/eepp/.ros/camera_info/head_camera.yaml
[ERROR] [1439068356.940529954]: Exception parsing YAML camera calibration:
yaml-cpp: error at line 0, column 0: bad conversion
[ERROR] [1439068356.940596498]: Failed to parse camera calibration from file [/home/eepp/.ros/camera_info/head_camera.yaml]
[ WARN] [1439068356.940648722]: Camera calibration file /home/eepp/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1439068356.940700246]: Starting 'head_camera' (/dev/video0) at 320x240 via mmap (mjpeg) at 30 FPS
[ INFO] [1439068356.976897388]: Using transport "raw"
[ WARN] [1439068357.103766979]: unknown control 'focus_auto'
Calibaration
Failure 1
This is the current set-up.
The date on /opt/ros/jade/lib/camera_calibration/cameracalibrator.py is January 14, 2015
sudo apt-get install ros-jade-camera-calibration
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera
Traceback (most recent call last):
File "/opt/ros/jade/lib/camera_calibration/cameracalibrator.py", line 49, in <module>
import cv2
ImportError: libopencv_core.so.3.0: cannot open shared object file: No such file or directory
Failure 2
Commit to cameracalibrator.py is May 23, 2015. It is different than the one above.
sudo apt-get remove ros-jade-camera-calibration git clone https://github.com/ros-perception/image_pipeline.git Cloning into 'image_pipeline'... remote: Counting objects: 6345, done. remote: Total 6345 (delta 0), reused 0 (delta 0), pack-reused 6345 Receiving objects: 100% (6345/6345), 17.34 MiB | 1.55 MiB/s, done. Resolving deltas: 100% (3865/3865), done. Checking connectivity... done. echo $ROS_PACKAGE_PATH /home/eepp/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks cd ../catkin_ws/src/ cp -r ~/ros_packages/image_pipeline/camera_calibration/ . rosdep install camera_calibration #All required rosdeps installed successfully rosmake camera_calibration [ rosmake ] rosmake starting... rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera Traceback (most recent call last): File "/home/eepp/catkin_ws/src/camera_calibration/nodes/cameracalibrator.py", line 47, in <module> import cv2 ImportError: libopencv_core.so.3.0: cannot open shared object file: No such file or directory
TBD
No accelerated colorspace conversion error
[swscaler @ 0xa58820] No accelerated colorspace conversion found from yuv422p to rgb24. [swscaler @ 0xa58820] No accelerated colorspace conversion found from yuv422p to rgb24. [swscaler @ 0xa58820] No accelerated colorspace conversion found from yuv422p to rgb24. [swscaler @ 0xa58820] No accelerated colorspace conversion found from yuv422p to rgb24.
Investigate
rosnode list /image_view /rosout /usb_cam rostopic list /rosout /rosout_agg /usb_cam/camera_info /usb_cam/image_raw rqt_graph
