OpenCV Installation

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 libswscale-dev is there. However, 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

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  

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.

To test OpenCV live enter the following. I 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