Difference between revisions of "OpenCV Installation"

Revision as of 12:36, 13 May 2012

I Heart Robotics

I Heart Robotics installation instructions and tutorials.

usb_cam

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 it is there and the following step will fail if this line is present.

rosdep install usb_cam
rosmake usb_cam

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

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

From users space.

eepp@tabor:~/ros_workspace/webcam$ roslaunch /opt/ros/electric/stacks/iheart-ros-pkg/ihr_demos/ihr_demo_bags/launch/demo.launch