《ROS应用技术》课件-14.机器人连接摄像头操作

ROS应用开发技术机器人连接摄像头操作目录CONTENTS01摄像头连接与参数介绍Kinect连接与参数介绍目录CONTENTS02摄像头连接与参数介绍摄像头连接与参数介绍程序启动程序启动020301下载usb_cam包sudoapt-getinstallros-kinetic-usb-camrqt_image_view文件运行启动ＲＱＴ工具roslaunchusb_camusb_cam-test.launchusb_cam功能包参数usb_cam功能包参数参数类型默认值描述video_devicestring/dev/video0摄像头设备号image_widthint640图像横向分辨率image_heightint480图像纵向分辨率pixel_formatstringmjpeg像素编码，可选值：mjpeg，yuyv，uyvyio_methodstringmmapI/O通道，可选值：mmap，read，userptrcamera_frame_idstringhead_camera摄像头坐标系framerateint30帧率brightnessint32亮度，0~255usb_cam功能包参数usb_cam功能包参数参数类型默认值描述saturationint32饱和度，0~255contrastint32对比度，0~255sharpnessint22清晰度，0~255autofocusboolfalse自动对焦focusint51焦点（非自动对焦状态下有效）camera_info_urlstring-摄像头校准文件路径camera_namestringhead_camera摄像头名称usb_cam-test.launch文件usb_cam-test.launch文件<launch><nodename="usb_cam"pkg="usb_cam"type="usb_cam_node"output="screen"><paramname="video_device"value="/dev/video0"/><paramname="image_width"value="640"/><paramname="image_height"value="480"/><paramname="pixel_format"value="yuyv"/><paramname="camera_frame_id"value="usb_cam"/><paramname="io_method"value="mmap"/></node><nodename="image_view"pkg="image_view"type="image_view"respawn="false"output="screen"><remapfrom="image"to="/usb_cam/image_raw"/><paramname="autosize"value="true"/></node></launch>Kinect连接与参数介绍Kinect连接与参数介绍安装使用安装使用060402050301解压64位二进制文件运行install.sh脚本tarxvfSensorKinect093-Bin-Linux-x64-v.tar.bz2(64bit)克隆SensorKinect源代码解压32位二进制文件cdSensorKinect/binsudoapt-getinstallros-kinetic-freenect-*进入SensorKinect的bin目录sudo./install.sh安装Kinectgitclone/avin2/SensorKinect.gittarxvfSensorKinect093-Bin-Linux-x86-v.tar.bz2(32bit)freenect_camera功能包参数-Topicfreenect_camera功能包参数-Topic名称类型描述rgb/camera_infosensor_msgs/CameraInfoRGB相机校准信息rgb/image_rawsensor_msgs/ImageRGB相机图像数据depth/camera_infosensor_msgs/CameraInfo深度相机校准信息depth/image_rawsensor_msgs/Image深度相机数据depth_registered/camera_infosensor_msgs/CameraInfo配准后的深度相机校准信息depth_registered/image_rawsensor_msgs/Image配准后的深度相机数据ir/camera_infosensor_msgs/CameraInfo红外相机校准信息ir/image_rawsensor_msgs/Image红外相机数据projector/camera_infosensor_msgs/CameraInfo深度相机校准信息/diagnosticsdiagnostic_msgs/DiagnosticArray传感器诊断信息freenect_camera功能包参数-Servicesfreenect_camera功能包参数-Services名称类型描述rgb/set_camera_infosensor_msgs/SetCameraInfo设置RGB相机的校准信息ir/set_camera_infosensor_msgs/SetCameraInfo设置红外相机的校准信息freenect.launch文件freenect.launch文件<launch><!--启动freenect驱动--><includefile="$(findfreenectlaunch)/launch/freenect.launch"><argname="publish_tf"value="false"/><argname="depth_registration"value="true"/><argname="rgb_processing"value="true"/><argname="ir_processing"value="false"/><argname="depth_processing"value="false"/><argname="depth_registered_processing"value="true"/><argname="disparity_processing"value="false"/><argname="disparity_registered_processing"value