Ceci est une ancienne révision du document !
Table des matières
Programme sur Arduino
voir Diviseur de fréquence + affichage nombre de fronts descendants sur MAX7221 sur timer: http://homepages.laas.fr/bvandepo/wiki/doku.php?do=export_code&id=timer&codeblock=0
Noeud pour l'enregistrement des images au format PPM
La camera de gauche est master, elle envoie un signal à la caméra de droite et à elle même pour démarrer la prise de photo. L'arduino récupère ce signal pour incrémenter un compteur qu'il affiche sur l'afficheur 8 segments.
Création d'un catkin etc
Pour créer un catkin initialement
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace
il faut charger les variables d'environnement pour ce catkin (normalement on stocke le source … dans ~/.bashrc)
cd ~/catkin_ws/ source devel/setup.bash echo $ROS_PACKAGE_PATH
Pour péréniser:
echo "source ~/catkin_ws/devel/setup.bash" >>~/.bashrc
Récupération du node ueye_cam
Installation noeud ueye modifié par Ariel et Jessica:
cd ~/catkin_ws/src
changé de git clone ssh:git@redmine.laas.fr/laas/users/apodlubn/ueye_cam.git en: git clone https://github.com/bvandepo/ueye_cam.git pour visualiser l'image en provenance d'une caméra: cd ~/catkin_ws roslaunch ueye_cam rgb8.launch rosrun image_view image_view image:=/camera/image_raw rostopic list rostopic echo /camera/camera_info pour étalonner en monoculaire avec une seule petite mire: rosrun camera_calibration cameracalibrator.py –size 7×5 –square 0.01 image:=/camera/image_raw pour étalonner en monoculaire avec deux mires: rosrun camera_calibration cameracalibrator.py –size 7×6 –square 0.108 –size 8×5 –square 0.029 image:=/camera/image_raw Grab the images from 2 cameras: roslaunch ueye_cam stereo.launch pour créer un nouveau node vide avec les dépendances adéquates cd ~/catkin_ws/src catkin_create_pkg ueye_cam_test camera_calibration_parsers camera_info_manager image_transport nodelet roscpp sensor_msgs std_msgs cv_bridge compléter le fichier créé en ajoutant à la fin de src/ueye_cam_test/CMakeLists.txt: <file txt CMakeLists.txt> ###############BVANDEPO############## include_directories(include ${catkin_INCLUDE_DIRS}) add_executable(ueye_cam_test_exe src/ueye_cam_test.cpp) target_link_libraries(ueye_cam_test_exe ${catkin_LIBRARIES}) </file> copier le fichier cpp source dans: ~/catkin_ws_/src/ueye_cam_test/src/ueye_cam_test.cpp <file cpp ueye_cam_test.cpp> from ueyecam_nodelet #include <ros/package.h> #include <camera_calibration_parsers/parse.h> #include <sensor_msgs/fill_image.h> #include <sensor_msgs/image_encodings.h>
#include <sstream> #include “std_msgs/String.h”
code sample image transport #include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv2/highgui/highgui.hpp> #include <cv_bridge/cv_bridge.h> For time synchronizer #include <message_filters/subscriber.h> #include <message_filters/time_synchronizer.h> #include <sensor_msgs/Image.h>
#include <iostream> #include <sstream> #include <stdio.h> #include <cstring>
using namespace sensor_msgs; using namespace message_filters;
unsigned int k(0);
/*/ /* SAVE_PPM */ /*/ void save_ppm(char *filename, char *im, unsigned int width, unsigned int height) {
FILE *f;
if(!(f=fopen(filename,"wb"))) {
fprintf(stderr,"Could not open `%s'",filename);
exit(1);
}
fprintf(f,"P6\n%d %d\n255\n",width,height); fwrite(im,1,width*height*3,f); fclose(f);
} /*/ /* SAVE_PPM_NAMED */ /*/ void save_ppm_named(char *basename, int k,char *endname,cv_bridge::CvImagePtr cv_ptr_1) {
std::stringstream sstm;
std::string nameFileL;
sstm << basename << std::setfill('0') << std::setw(5) << k << endname;
nameFileL = sstm.str();
save_ppm((char*)nameFileL.c_str(), (char*)cv_ptr_1->image.data, cv_ptr_1->image.cols, cv_ptr_1->image.rows);
} /*/ /* IMAGE CALLBACK */ /*/ void imageCallback(const sensor_msgs::ImageConstPtr& msg) {
try
{
cv_bridge::CvImagePtr cv_ptr_1 = cv_bridge::toCvCopy(msg, "bgr8");
save_ppm_named((char*)"/tmp/images/ueye_", k,(char*)"_mono.ppm",cv_ptr_1);
cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
cv::waitKey(30);
k++;
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
} /*/ /* STEREO CALLBACK */ /*/ void stereoCallback(const ImageConstPtr& image1, const ImageConstPtr& image2) {
// Solve all of perception here...
try
{
cv_bridge::CvImagePtr cv_ptr_1 = cv_bridge::toCvCopy(image1, "bgr8");
cv_bridge::CvImagePtr cv_ptr_2 = cv_bridge::toCvCopy(image2, "bgr8");
// save left image
save_ppm_named((char*)"/tmp/images/ueye_", k,(char*)"_left.ppm",cv_ptr_1);
// save right image
save_ppm_named((char*)"/tmp/images/ueye_", k,(char*)"_right.ppm",cv_ptr_2);
// show image
cv::imshow("view_left", cv_ptr_1->image);
cv::imshow("view_right", cv_ptr_2->image);
cv::waitKey(30);
k++;
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", image1->encoding.c_str());
}
} /*/ /* MAIN */ /*/ int main(int argc, char **argv) {
// create folder where we save images
system("mkdir /tmp/images");
ros::init(argc, argv, "listenerUeye"); ros::NodeHandle nh; bool stereo(true);
if(!stereo){
ROS_INFO("ueye_cam_test in moncular mode");
cv::namedWindow("view");
cv::startWindowThread();
image_transport::ImageTransport it(nh);
image_transport::Subscriber sub = it.subscribe("/camera/image_raw", 1, imageCallback);
ros::spin();
cv::destroyWindow("view");
}
else{
ROS_INFO("ueye_cam_test in binocular mode");
cv::namedWindow("view_left");
cv::namedWindow("view_right");
cv::startWindowThread();
message_filters::Subscriber<Image> image_left_sub(nh, "/stereo/left/image_raw", 1);
message_filters::Subscriber<Image> image_right_sub(nh, "/stereo/right/image_raw", 1);
TimeSynchronizer<Image, Image> sync(image_left_sub, image_right_sub, 10);
sync.registerCallback(boost::bind(&stereoCallback, _1, _2));
ros::spin();
cv::destroyWindow("view_left");
cv::destroyWindow("view_right");
}
} </file>
Adapter dans ~/catkin_ws_/src/ueye_cam_test/src/ueye_cam_test.cpp la ligne pour s'abonner au topic image/raw ou /stereo/right/image_raw et /stereo/left/image_raw
bool stereo(false); ou bool stereo(truee);
pour compiler:
cd ~/catkin_ws/ catkin_make
Il n'y a pas de launch. Pour lancer le programme en monoculaire:
roscore roslaunch ueye_cam rgb8.launch rosrun image_view image_view image:=/camera/image_raw rosrun ueye_cam_test ueye_cam_test_exe
Résultats
