Webcam, camera calibration and ar_pose in ROS fuerte in debian

Webcam Gscam

  • Install dependencies
sudo apt-get install libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev
  • Install and compile gscam:
roslocate info --distro=fuerte gscam | rosws merge -
rosws update
env_ros_fuerte
rosmake gscam
  • Run gscam module:
export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
rosrun gscam gscam
  • Look at image:
rosrun image_view image_view image:=/gscam/image_raw

Calibrate camera

sudo apt-get install python-opencv
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/gscam/image_raw camera:=/gscam

Ar pose

roslocate info ar_pose | rosws merge -
rosws update

or (mirror):

rosws set ccny_vision --git https://github.com/srv/ccny_vision.git
rosws update ccny_vision
env_ros_fuerte
rosmake ar_pose

References

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  • tutorials/webcam_camera_calibration_and_ar_pose_in_ros_fuerte_in_debian.txt
  • Last modified: 2016/02/26 11:52
  • by amora