Turbot3-ARM入门教程-USB相机测试

说明

• 介绍如何测试USB相机

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [Turbot3 SBC] 默认USB相机和D435i都接上的时候，USB相机通常使用/dev/video4端口，而如果只用usb相机的话，则默认的端口为/dev/video1

$ v4l2-ctl -d  /dev/video4 --all
Driver Info (not using libv4l2):
    Driver name   : uvcvideo
    Card type     : HD Pro Webcam C920
    Bus info      : usb-3530000.xhci-1.2
    Driver version: 4.4.38
    Capabilities  : 0x84200001
        Video Capture
        Streaming
        Extended Pix Format
        Device Capabilities
    Device Caps   : 0x04200001
        Video Capture
        Streaming
        Extended Pix Format
Priority: 2
Video input : 0 (Camera 1: ok)
Format Video Capture:
    Width/Height      : 640/480
    Pixel Format      : 'YUYV'
    Field             : None
    Bytes per Line    : 1280
    Size Image        : 614400
    Colorspace        : sRGB
    Transfer Function : Default
    YCbCr Encoding    : Default
    Quantization      : Default
    Flags             : 
Crop Capability Video Capture:
    Bounds      : Left 0, Top 0, Width 640, Height 480
    Default     : Left 0, Top 0, Width 640, Height 480
    Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 640, Height 480
Selection: crop_bounds, Left 0, Top 0, Width 640, Height 480
Streaming Parameters Video Capture:
    Capabilities     : timeperframe
    Frames per second: 30.000 (30/1)
    Read buffers     : 0
                     brightness (int)    : min=0 max=255 step=1 default=128 value=128
                       contrast (int)    : min=0 max=255 step=1 default=128 value=128
                     saturation (int)    : min=0 max=255 step=1 default=128 value=128
 white_balance_temperature_auto (bool)   : default=1 value=1
                           gain (int)    : min=0 max=255 step=1 default=0 value=0
           power_line_frequency (menu)   : min=0 max=2 default=2 value=2
      white_balance_temperature (int)    : min=2000 max=6500 step=1 default=4000 value=4000 flags=inactive
                      sharpness (int)    : min=0 max=255 step=1 default=128 value=128
         backlight_compensation (int)    : min=0 max=1 step=1 default=0 value=0
                  exposure_auto (menu)   : min=0 max=3 default=3 value=3
              exposure_absolute (int)    : min=3 max=2047 step=1 default=250 value=250 flags=inactive
         exposure_auto_priority (bool)   : default=0 value=1
                   pan_absolute (int)    : min=-36000 max=36000 step=3600 default=0 value=0
                  tilt_absolute (int)    : min=-36000 max=36000 step=3600 default=0 value=0
                 focus_absolute (int)    : min=0 max=250 step=5 default=0 value=0 flags=inactive
                     focus_auto (bool)   : default=1 value=1
                  zoom_absolute (int)    : min=100 max=500 step=1 default=100 value=100

• [Turbot3 SBC] 启动usb相机

$ roslaunch usb_cam usb_cam.launch

• [Remote PC] 查看画面，选择话题：/camera/color/image_raw

$ rqt_image_view