usb_cam的ROS2甜点

最近收到一些反馈，不多但是都非常有价值，感谢反馈的朋友们。关于ROS2的实践和应用类型课程已经开发完成，ROS1最终版Noetic也会出一版纪念版镜像配合教程，但博客更新主要集中于ROS2的相关应用。

usb_cam这是非常典型有价值的摄像头包。主要有两个：

ros2_usb_camera-foxy-devel
usb_cam-ros2

代码差异还是有不少的。

推荐使用usb_cam。

ros2 launch usb_cam demo_launch.py

效果如下：

这个是640*480

如果需要1280*720，需要修改如下：

usb_cam_node.cpp

  // declare paramsthis->declare_parameter("camera_name", "default_cam");this->declare_parameter("camera_info_url", "");this->declare_parameter("framerate", 10.0);this->declare_parameter("frame_id", "default_cam");this->declare_parameter("image_height", 720);this->declare_parameter("image_width", 1280);this->declare_parameter("io_method", "mmap");this->declare_parameter("pixel_format", "yuyv");this->declare_parameter("video_device", "/dev/video0");

这样就可以吗？应该是不行的，还需要的操作如下：

先看下启动文件launch

# Copyright 2018 Lucas Walter
# All rights reserved.
#
# Software License Agreement (BSD License 2.0)
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
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#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Lucas Walter nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.import argparse
from launch import LaunchDescription
from launch_ros.actions import Nodeimport os
import sysfrom ament_index_python.packages import get_package_share_directorydef generate_launch_description():ld = LaunchDescription()parser = argparse.ArgumentParser(description='usb_cam demo')parser.add_argument('-n', '--node-name', dest='node_name', type=str,help='name for device', default='usb_cam')args, unknown = parser.parse_known_args(sys.argv[4:])usb_cam_dir = get_package_share_directory('usb_cam')# get path to params fileparams_path = os.path.join(usb_cam_dir,'config','params.yaml')node_name = args.node_nameprint(params_path)ld.add_action(Node(package='usb_cam', executable='usb_cam_node_exe', output='screen',name=node_name,# namespace=ns,parameters=[params_path]))ld.add_action(Node(package='usb_cam', executable='show_image.py', output='screen',# namespace=ns,# arguments=[image_manip_dir + "/data/mosaic.jpg"])# remappings=[('image_in', 'image_raw')]))return ld

注意到如下这一段：

# get path to params fileparams_path = os.path.join(usb_cam_dir,'config','params.yaml')

需要修改啦：

camera_info.yaml

image_width: 1280
image_height: 720
camera_name: test_camera
camera_matrix:rows: 3cols: 3data: [438.783367, 0.000000, 305.593336, 0.000000, 437.302876, 243.738352, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:rows: 1cols: 5data: [-0.361976, 0.110510, 0.001014, 0.000505, 0.000000]
rectification_matrix:rows: 3cols: 3data: [0.999978, 0.002789, -0.006046, -0.002816, 0.999986, -0.004401, 0.006034, 0.004417, 0.999972]
projection_matrix:rows: 3cols: 4data: [393.653800, 0.000000, 322.797939, 0.000000, 0.000000, 393.653800, 241.090902, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

params.yaml

/**:ros__parameters:video_device: "/dev/video0"framerate: 30.0io_method: "mmap"frame_id: "camera"pixel_format: "yuyv"image_width: 1280image_height: 720camera_name: "test_camera"camera_info_url: "package://usb_cam/config/camera_info.yaml"

参数合适吗？不管，效果还是有的：

然后，就可以愉快玩耍各种图形处理算法啦，欢乐不^_^

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