forked from zbw/yiliao2026
标定+USB摄像头启动
This commit is contained in:
30
src/car_usb_cam/config/usb_camera_calibration.yaml
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30
src/car_usb_cam/config/usb_camera_calibration.yaml
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image_width: 1920
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image_height: 1080
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camera_name: usb_camera
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camera_matrix:
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rows: 3
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cols: 3
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data: [281.59527801, 0.0, 364.60571628,
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0.0, 285.67845685, 204.92614855,
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0.0, 0.0, 1.0]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [ 0.03532389,-0.05576607, 0.00027529, 0.00241747, 0.01024998]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0]
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projection_matrix:
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rows: 3
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cols: 4
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data: [281.59527801, 0.0, 364.60571628, 0.0,
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0.0, 285.67845685, 204.92614855, 0.0,
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0.0, 0.0, 1.0, 0.0]
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93
src/car_usb_cam/launch/hobot_usb_cam.launch.py
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93
src/car_usb_cam/launch/hobot_usb_cam.launch.py
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# Copyright (c) 2024，D-Robotics.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, TextSubstitution
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python import get_package_share_directory
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from ament_index_python.packages import get_package_prefix
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import os
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def generate_launch_description():
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config_file_path = os.path.join(
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get_package_prefix('hobot_usb_cam'),
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"/home/sunrise/yiliao_ws/src/car_usb_cam/config/usb_camera_calibration.yaml")
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print("config_file_path is ", config_file_path)
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return LaunchDescription([
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DeclareLaunchArgument(
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'usb_camera_calibration_file_path',
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default_value=TextSubstitution(text=str(config_file_path)),
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description='camera calibration file path'),
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DeclareLaunchArgument(
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'usb_frame_id',
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default_value='default_usb_cam',
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description='image message frame_id'),
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DeclareLaunchArgument(
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'usb_framerate',
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default_value='30',
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description='framerate'),
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DeclareLaunchArgument(
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'usb_image_height',
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default_value='450',
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description='image height'),
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DeclareLaunchArgument(
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'usb_image_width',
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default_value='800',
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description='image width'),
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DeclareLaunchArgument(
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'usb_io_method',
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default_value='mmap',
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description='io_method, mmap/read/userptr'),
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DeclareLaunchArgument(
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'usb_pixel_format',
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default_value='yuyv2rgb',
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description='pixel format, mjpeg/yuyv2rgb'),
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DeclareLaunchArgument(
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'usb_video_device',
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default_value='/dev/video0',
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description='usb camera device'),
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DeclareLaunchArgument(
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'usb_zero_copy',
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default_value='False',
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description='use zero copy or not'),
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# 启动零拷贝环境配置node
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('hobot_shm'),
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'launch/hobot_shm.launch.py'))
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),
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Node(
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package='hobot_usb_cam',
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executable='hobot_usb_cam',
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name='hobot_usb_cam',
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parameters=[
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{"camera_calibration_file_path": LaunchConfiguration(
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'usb_camera_calibration_file_path')},
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{"frame_id": LaunchConfiguration('usb_frame_id')},
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{"framerate": LaunchConfiguration('usb_framerate')},
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{"image_height": LaunchConfiguration('usb_image_height')},
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{"image_width": LaunchConfiguration('usb_image_width')},
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{"io_method": LaunchConfiguration('usb_io_method')},
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{"pixel_format": LaunchConfiguration('usb_pixel_format')},
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{"video_device": LaunchConfiguration('usb_video_device')},
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{"zero_copy": LaunchConfiguration('usb_zero_copy')}
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],
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arguments=['--ros-args', '--log-level', 'warn']
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)
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])
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94
src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
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94
src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
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# Copyright (c) 2024，D-Robotics.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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camera_node = None
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print("using usb camera")
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# using usb cam publish image
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usb_cam_device_arg = DeclareLaunchArgument(
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'device',
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default_value='/dev/video0',
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description='usb camera device')
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usb_node = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('car_usb_cam'),
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'launch/hobot_usb_cam.launch.py')),
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launch_arguments={
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'usb_image_width': '800',
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'usb_image_height': '450',
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'usb_framerate': '30',
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'usb_pixel_format': 'yuyv2rgb',# yuyv2rgb
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'usb_zero_copy': 'False',
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'usb_video_device': LaunchConfiguration('device')
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}.items()
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)
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# nv12->jpeg
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jpeg_codec_node = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('hobot_codec'),
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'launch/hobot_codec_encode.launch.py')),
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launch_arguments={
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#'codec_in_mode': 'shared_mem',
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'codec_in_mode': 'ros',
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'codec_in_format': 'rgb8',#rgb8
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'codec_out_mode': 'ros', #
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#'codec_sub_topic': '/hbmem_img',
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'codec_sub_topic': '/image',
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'codec_pub_topic': '/image_mjpeg' # 原image_mjpeg
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}.items()
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)
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# web
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web_node = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('websocket'),
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'launch/websocket.launch.py')),
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launch_arguments={
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'websocket_image_topic': '/image_mjpeg',
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'websocket_only_show_image': 'True'
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}.items()
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)
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return LaunchDescription([
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# 启动零拷贝环境配置node
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('hobot_shm'),
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'launch/hobot_shm.launch.py'))
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),
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usb_cam_device_arg,
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usb_node,
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# image codec
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jpeg_codec_node,
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# web display
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# web_node
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])
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46
src/car_usb_cam/local_setup.bash
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46
src/car_usb_cam/local_setup.bash
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# generated from ament_package/template/package_level/local_setup.bash.in
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# source local_setup.sh from same directory as this file
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_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
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# provide AMENT_CURRENT_PREFIX to shell script
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AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
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# store AMENT_CURRENT_PREFIX to restore it before each environment hook
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_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
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# trace output
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if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
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echo "# . \"$_this_path/local_setup.sh\""
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fi
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. "$_this_path/local_setup.sh"
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unset _this_path
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# unset AMENT_ENVIRONMENT_HOOKS
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# if not appending to them for return
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if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
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unset AMENT_ENVIRONMENT_HOOKS
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fi
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# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
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AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
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# list all environment hooks of this package
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# source all shell-specific environment hooks of this package
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# if not returning them
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if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
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_package_local_setup_IFS=$IFS
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IFS=":"
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for _hook in $AMENT_ENVIRONMENT_HOOKS; do
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# restore AMENT_CURRENT_PREFIX for each environment hook
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AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
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# restore IFS before sourcing other files
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IFS=$_package_local_setup_IFS
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. "$_hook"
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done
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unset _hook
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IFS=$_package_local_setup_IFS
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unset _package_local_setup_IFS
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unset AMENT_ENVIRONMENT_HOOKS
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fi
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unset _package_local_setup_AMENT_CURRENT_PREFIX
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unset AMENT_CURRENT_PREFIX
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29
src/car_usb_cam/package.xml
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29
src/car_usb_cam/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>car_usb_cam</name>
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<version>2.3.0</version>
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<description>TogetheROS hobot usb camera</description>
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<maintainer email="kairui.wang@d-robotics.cc">kairui</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>std_srvs</depend>
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<depend>sensor_msgs</depend>
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<depend>hbm_img_msgs</depend>
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<depend>v4l-utils</depend>
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<depend>yaml_cpp_vendor</depend>
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<!-- Only required for MJPEG to RGB converison -->
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<depend>ffmpeg</depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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