https://blog.csdn.net/KID_yuan/article/details/101272384
https://blog.csdn.net/weixin_53073284/article/details/125671358
ls /dev/video* //插上摄像头后打开终端查看是否检测到摄像头
mkdir -p camera_ws/src //新建工作空间
cd camera_ws/src/
git clone https://github.com/bosch-ros-pkg/usb_cam.git //克隆功能包
cd ..
catkin_make //编译
报错：
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)
解决：
https://github.com/MIT-SPARK/Kimera-VIO-ROS/issues/13#issuecomment-883298337
重新使用： catkin build 构建
vim src/usb_cam/launch/usb_cam-test.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="2560" />
<param name="image_height" value="720" />
<param name="pixel_format" value="yuyv" />
<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"/>
<param name="autosize" value="true" />
</node>
</launch>
cd ~/camera_ws
source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch
报错：
ERROR: cannot launch node of type [usb_cam/usb_cam_node]: Cannot locate node of type [usb_cam_node] in package [usb_cam]. Make sure file exists in package path and permission is set to executable (chmod +x)
问题： 这好像是 冲突了。https://github.com/ros-drivers/usb_cam/issues/96#issuecomment-1400883250
分割线
注意！注意！注意！我们抛弃了上述方法。
rm -r ~/camera_ws
参考：https://blog.csdn.net/chencaw/article/details/101193038
apt-get install ros-melodic-usb-cam
apt-get install ros-melodic-image-*
apt-get install ros-melodic-rqt-image-view
roscd usb_cam # 进入 `/opt/ros/melodic/share/usb_cam`
vim launch/usb_cam-test.launch
修改分辨率为 2560 720：
<param name="image_width" value="2560" />
<param name="image_height" value="720" />
运行：
roslaunch usb_cam usb_cam-test.launch
即可看到双目视频。
但是我们可视化出来是 双目图像在一个 图像中，我们需要分割双目图像。参考：
https://blog.csdn.net/weixin_48592526/article/details/122724361
https://www.guyuehome.com/34995
cd
mkdir -p dcamera_ws/src
cd dcamera_ws
catkin_make
cd src
catkin_create_pkg camera_split cv_bridge image_transport roscpp sensor_msgs std_msgs camera_info_manager
vim src/camera_split/CMakeLists.txt
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
#添加可执行文件
add_executable(camera_split_node src/camera_split.cpp )
#指定链接库
target_link_libraries(camera_split_node
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)
vim src/camera_split/launch/camera_split_no_calibration.launch
<launch>
<node pkg="camera_split" type="camera_split_node" name="camera_split_node" output="screen" />
<node pkg="image_view" type="image_view" name="image_view_left" respawn="false" output="screen">
<remap from="image" to="/left_cam/image_raw"/>
<param name="autosize" value="true" />
</node>
<node pkg="image_view" type="image_view" name="image_view_right" respawn="false" output="screen">
<remap from="image" to="/right_cam/image_raw"/>
<param name="autosize" value="true" />
</node>
</launch>
vim src/camera_split/src/camera_split.cpp
#include <ros/ros.h>
#include <iostream>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <camera_info_manager/camera_info_manager.h>
#include <opencv2/opencv.hpp>
//#include <opencv2/imgproc/imgproc.hpp>
//#include <opencv2/highgui/highgui.hpp>
using namespace std;
class CameraSplitter
{
public:
CameraSplitter():nh_("~"),it_(nh_)
{
image_sub_ = it_.subscribe("/usb_cam/image_raw", 1, &CameraSplitter::imageCallback, this);
image_pub_left_ = it_.advertiseCamera("/left_cam/image_raw", 1);
image_pub_right_ = it_.advertiseCamera("/right_cam/image_raw", 1);
cinfo_ =boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(nh_));
//读取参数服务器参数，得到左右相机参数文件的位置
string left_cal_file = nh_.param<std::string>("left_cam_file", "");
string right_cal_file = nh_.param<std::string>("right_cam_file", "");
if(!left_cal_file.empty())
{
if(cinfo_->validateURL(left_cal_file)) {
cout<<"Load left camera info file: "<<left_cal_file<<endl;
cinfo_->loadCameraInfo(left_cal_file);
ci_left_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
}
else {
cout<<"Can't load left camera info file: "<<left_cal_file<<endl;
ros::shutdown();
}
}
else {
cout<<"Did not specify left camera info file." <<endl;
ci_left_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
}
if(!right_cal_file.empty())
{
if(cinfo_->validateURL(right_cal_file)) {
cout<<"Load right camera info file: "<<right_cal_file<<endl;
cinfo_->loadCameraInfo(right_cal_file);
ci_right_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
}
else {
cout<<"Can't load right camera info file: "<<left_cal_file<<endl;
ros::shutdown();
}
}
else {
cout<<"Did not specify right camera info file." <<endl;
ci_right_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
}
}
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImageConstPtr cv_ptr;
namespace enc= sensor_msgs::image_encodings;
cv_ptr= cv_bridge::toCvShare(msg, enc::BGR8);
//截取ROI(Region Of Interest)，即左右图像，会将原图像数据拷贝出来。
leftImgROI_=cv_ptr->image(cv::Rect(0,0,cv_ptr->image.cols/2, cv_ptr->image.rows));
rightImgROI_=cv_ptr->image(cv::Rect(cv_ptr->image.cols/2,0, cv_ptr->image.cols/2, cv_ptr->image.rows ));
//创建两个CvImage, 用于存放原始图像的左右部分。CvImage创建时是对Mat进行引用的,不会进行数据拷贝
leftImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,leftImgROI_) );
rightImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,rightImgROI_) );
//发布到/left_cam/image_raw和/right_cam/image_raw
ci_left_->header = cv_ptr->header; //很重要，不然会提示不同步导致无法去畸变
ci_right_->header = cv_ptr->header;
sensor_msgs::ImagePtr leftPtr =leftImgPtr_->toImageMsg();
sensor_msgs::ImagePtr rightPtr =rightImgPtr_->toImageMsg();
leftPtr->header=msg->header; //很重要，不然输出的图象没有时间戳
rightPtr->header=msg->header;
image_pub_left_.publish(leftPtr,ci_left_);
image_pub_right_.publish(rightPtr,ci_right_);
}
private:
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::CameraPublisher image_pub_left_;
image_transport::CameraPublisher image_pub_right_;
boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
sensor_msgs::CameraInfoPtr ci_left_;
sensor_msgs::CameraInfoPtr ci_right_;
cv::Mat leftImgROI_;
cv::Mat rightImgROI_;
cv_bridge::CvImagePtr leftImgPtr_=NULL;
cv_bridge::CvImagePtr rightImgPtr_=NULL;
};
int main(int argc,char** argv)
{
ros::init(argc,argv, "camera_split");
CameraSplitter cameraSplitter;
ros::spin();
return 0;
}
cd dcamera_ws
catkin_make
source ./devel/setup.bash
roslaunch camera_split camera_split_no_calibration.launch
请注意：这里我们不会出来画面。我们还需要另外启动一个终端。
cd /opt/ros/melodic/share/usb_cam
roslaunch usb_cam usb_cam-test.launch
然后就可以出来 3个 图像窗口了。分别是双目-左目-右目。
标签：usb,image,相机,camera,cam,ubuntu,ROS,cv,left From： https://www.cnblogs.com/odesey/p/18278579