ROS 使用自帶和usb攝像頭獲取圖像

  也可以使用安裝usb_cam package的流程和上面的uvc_cam幾乎一樣：

    $ cd ~/catkin_ws/src  
    $ git clone https://github.com/bosch-ros-pkg/usb_cam.git $ cd ~/catkin_ws $ catkin_make 

 

 

我外接usb羅技攝像頭，如果使用筆記本自帶攝像頭直接啟動usb_cam啟動文件即可

直接修改usb_cam包的啟動文件usb_cam.launch

修改參數參考官網說明http://wiki.ros.org/usb_cam

   筆記本自帶的攝像頭的設備號一般為/dev/video0    外接攝像頭一般是

<param name="video_device" value="/dev/video1" />

~pixel_format (string, default: "mjpeg") Possible values are mjpeg, yuyv, uyvy

我的攝像頭這個參數不是默認值

 <param name="pixel_format" value="yuyv" />

<launch>
    
  
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
  
   <param name="video_device" value="/dev/video1" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
     <param name="framerate" value="30" />
    <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>

 

roslaunch usb_cam usb_cam.launch