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furushchevfurushchev
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[netusb_camera_driver] add netusb_camera_driver package
* add nodes / launches / tests * auto installation of drivers * add netusb_camera_driver to meta package run_depend
1 parent 91dc22b commit d9fb2bc

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‎jsk_mbzirc/package.xml

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<!-- jsk_mbzirc_common-->
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<run_depend>jsk_mbzirc_common</run_depend>
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<run_depend>jsk_mbzirc_tasks</run_depend>
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<run_depend>netusb_camera_driver</run_depend>
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<export>
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<metapackage/>

‎netusb_camera_driver/.gitignore

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*~
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.*~
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\#*
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.\#*

‎netusb_camera_driver/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(netusb_camera_driver)
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find_package(catkin REQUIRED COMPONENTS
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camera_info_manager
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dynamic_reconfigure
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image_transport
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nodelet
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roscpp
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sensor_msgs
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)
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generate_dynamic_reconfigure_options(
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cfg/NETUSBCamera.cfg
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)
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catkin_package(
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CATKIN_DEPENDS dynamic_reconfigure nodelet roscpp
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)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
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find_package(udev REQUIRED)
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find_package(NETUSBCAM REQUIRED)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(NETUSBCamera src/NETUSBCamera.cpp)
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target_link_libraries(NETUSBCamera ${NETUSBCAM_LIBRARIES} ${catkin_LIBRARIES})
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add_library(NETUSBCameraNodelet src/netusb_camera_nodelet.cpp)
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target_link_libraries(NETUSBCameraNodelet NETUSBCamera ${catkin_LIBRARIES})
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add_dependencies(NETUSBCameraNodelet ${PROJECT_NAME}_gencfg)
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add_executable(netusb_camera_node src/netusb_camera_node.cpp)
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target_link_libraries(netusb_camera_node NETUSBCamera ${catkin_LIBRARIES})
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add_dependencies(netusb_camera_node ${PROJECT_NAME}_gencfg)
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install(TARGETS
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NETUSBCamera
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NETUSBCameraNodelet
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netusb_camera_node
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(FILES
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${NETUSBCAM_LIBRARIES}
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${LIBUDEV_LIBRARIES}
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DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(FILES
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nodelet_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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‎netusb_camera_driver/README.md

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# netusb_camera_driver
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- - -
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The ROS Interface for NETUSB Camera with Driver
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## Installation
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0. Download package
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```bash
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$ cd /path/to/catkin_ws
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$ wstool set netusb_camera_driver --git https://github.com/furushchev/netusb_camera_driver -t src
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$ wstool up netusb_camera_driver
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```
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1. Install dependencies
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```bash
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$ rosdep install --from-paths src --ignore-src -r -n -y
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```
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2. Build this package
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```bash
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$ catkin build netusb_camera_driver
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```
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2. Install udev rules to recognize camera
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```bash
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$ roscd netusb_camera_driver
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$ sudo cp udev/99-netusbcam.rules /etc/udev/rules.d
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```
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## Launching Node
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1. Launch roscore
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```bash
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$ roscore
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```
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2. Launch Driver
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```bash
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$ rosrun netusb_camera_driver netusb_camera_node
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```
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3. Launch viewer
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```bash
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$ rosrun image_view image_view image:=/image_raw
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```

‎netusb_camera_driver/cfg/NETUSBCamera.cfg

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#!/usr/bin/env python
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PKG="netusb_camera_driver"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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video_modes = gen.enum([gen.const("320x240", int_t, 0, "QVGA"),
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gen.const("640x480", int_t, 1, "VGA"),
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gen.const("752x480", int_t, 2, "WVGA"),
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gen.const("800x600", int_t, 3, "SVGA"),
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gen.const("1024x768", int_t, 4, "XGA"),
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gen.const("1280x1024", int_t, 5, "SXGA"),
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gen.const("1600x1200", int_t, 6, "UXGA"),
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gen.const("2048x1536", int_t, 7, "QXGA"),
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gen.const("2592x1944", int_t, 8, "QSXGA"),
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gen.const("3840x2748", int_t, 9, "WQUXGA"),],
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"Resolution of camera image")
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shutter_modes = gen.enum([gen.const("Rolling", int_t, 0, "Rolling"),
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gen.const("GlobalReset", int_t, 1, "Global Reset"),
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gen.const("Global", int_t, 2, "Global"),],
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"Shutter mode")
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#gen.add("auto_configure", bool_t, DeviceLevels.RUNNING, "Auto configure parameters", False)
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#gen.add("default_configure", bool_t, DeviceLevels.RUNNING, "Reset parameters to default", False)
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# variable type level description default min max
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gen.add("video_mode", int_t, 0, "Video mode", 1, edit_method=video_modes)
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gen.add("shutter", int_t, 0, "Shutter Mode", 2, edit_method=shutter_modes)
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gen.add("exposure", double_t, 0, "Exposure", 10.0, 0.00, 200.0)
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gen.add("brightness", int_t, 0, "Brightness", 100, 0, 255)
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gen.add("contrast", int_t, 0, "Contrast", 100, 0, 512)
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gen.add("gamma", int_t, 0, "Gamma", 100, 0, 141)
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gen.add("white_balance", int_t, 0, "White Balance", 1, 0, 100)
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gen.add("gain", int_t, 0, "Gain", 6, 0, 60)
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gen.add("red_gain", int_t, 0, "Red Gain", 100, 0, 512)
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gen.add("green_gain", int_t, 0, "Green Gain", 100, 0, 512)
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gen.add("blue_gain", int_t, 0, "Blue Gain", 100, 0, 512)
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gen.add("blacklevel", int_t, 0, "Sensor BlackLevel", 100, 0, 200)
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gen.add("pll", int_t, 0, "phase-locked loop oscillator", 10, 0, 100)
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gen.add("strobe_length", int_t, 0, "length of strobe pulse output (msec)", 10, 0, 1000)
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gen.add("strobe_delay", int_t, 0, "delay before strobe pulse is executed (msec)", 10, 0, 1000)
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gen.add("trigger_delay", int_t, 0, "delay before hardware trigger is executed (msec)", 10, 0, 1000)
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gen.add("measure_field_ae", int_t, 0, "measure field for auto exposure", 1, 0, 1000)
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gen.add("color", bool_t, 0, "Color", True)
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gen.add("pixel_depth", bool_t, 0, "Pixel Depth", True)
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gen.add("flipped_v", bool_t, 0, "Flip Vertically", False)
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gen.add("flipped_h", bool_t, 0, "Flip Horizontally", False)
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gen.add("invert_pixel", bool_t, 0, "Invert Pixel (BW Only)", False)
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gen.add("defect_cor", bool_t, 0, "Defect Pixel Correction", False)
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gen.add("sw_trig_mode", bool_t, 0, "DELAYED_TRIGGER_RETURN (False) || IMMEDIATE_TRIGGER_RETURN", False)
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gen.add("callback_br_frames", bool_t, 0, "Broken frames also triggering the callback function", False)
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exit(gen.generate(PKG, "netusb_camera_driver", "NETUSBCamera"))

‎netusb_camera_driver/cmake/FindNETUSBCAM.cmake

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function(download_netusbcam NETUSBCAM_LIB_VAR NETUSBCAM_INCLUDE_DIR_VAR)
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if(NOT UNIX)
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message(FATAL_ERROR "Downloading NETUSBCAM Library for non-linux system is currently not supported.")
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endif()
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set(NETUSBCAM_LIB "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/libNETUSBCAM.so")
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set(NETUSBCAM_INCLUDE_DIR "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}")
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set(NETUSBCAM_DOWNLOAD_SCRIPT "${PROJECT_SOURCE_DIR}/cmake/download_netusbcam.py")
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execute_process(
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COMMAND ${NETUSBCAM_DOWNLOAD_SCRIPT} ${NETUSBCAM_LIB} ${NETUSBCAM_INCLUDE_DIR}
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
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set(${NETUSBCAM_LIB_VAR} ${NETUSBCAM_LIB} PARENT_SCOPE)
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set(${NETUSBCAM_INCLUDE_DIR_VAR} ${NETUSBCAM_INCLUDE_DIR} PARENT_SCOPE)
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endfunction()
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set(NETUSBCAM_ROOT_DIR
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"${NETUSBCAM_ROOT_DIR}"
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CACHE PATH
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"Directory to search for NETUSBCAM")
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find_library(NETUSBCAM_LIBRARY
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NAMES NETUSBCAM
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PATHS "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}" /usr/lib
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HINTS "${NETUSBCAM_ROOT_DIR}"
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PATH_SUFFIXES lib)
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get_filename_component(_libdir "${NETUSBCAM_LIBRARY}" PATH)
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find_path(NETUSBCAM_INCLUDE_DIR
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NAMES NETUSBCAM_API.h
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PATHS "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}" /usr/include
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HINTS "${_libdir}" "${_libdir}/.." "${NETUSBCAM_ROOT_DIR}"
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PATH_SUFFIXES include)
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if(NOT NETUSBCAM_LIBRARY)
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message(STATUS "NETUSBCAM Library Not Found in System Library Path")
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download_netusbcam(NETUSBCAM_LIBRARY NETUSBCAM_INCLUDE_DIR)
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else()
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set(NETUSBCAM_INCLUDE_DIR "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}")
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(NETUSBCAM
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DEFAULT_MSG NETUSBCAM_LIBRARY NETUSBCAM_INCLUDE_DIR)
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if(NETUSBCAM_FOUND)
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list(APPEND NETUSBCAM_LIBRARIES ${NETUSBCAM_LIBRARY})
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list(APPEND NETUSBCAM_INCLUDE_DIRS ${NETUSBCAM_INCLUDE_DIR})
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mark_as_advanced(NETUSBCAM_ROOT_DIR)
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endif()
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mark_as_advanced(NETUSBCAM_INCLUDE_DIR NETUSBCAM_LIBRARY)

‎netusb_camera_driver/cmake/Findudev.cmake

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# Variables
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# UDEV_INCLUDE_DIRS
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# UDEV_FOUND
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# UDEV_LIBRARIES
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set(UDEV_ROOT_DIR
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"${UDEV_ROOT_DIR}"
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CACHE PATH
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"Directory to search for udev")
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find_package(PkgConfig QUIET)
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if(PKG_CONFIG_FOUND)
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pkg_check_modules(PC_LIBUDEV libudev)
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endif()
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find_library(UDEV_LIBRARY
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NAMES udev
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PATHS ${PC_LIBUDEV_LIBRARY_DIRS} ${PC_LIBUDEV_LIBDIR}
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HINTS "${UDEV_ROOT_DIR}"
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PATH_SUFFIXES lib)
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get_filename_component(_libdir "${UDEV_LIBRARY}" PATH)
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find_path(UDEV_INCLUDE_DIR
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NAMES libudev.h
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PATHS ${PC_LIBUDEV_INCLUDE_DIRS} ${PC_LIBUDEV_INCLUDEDIR}
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HINTS "${_libdir}" "${_libdir}/.." "${UDEV_ROOT_DIR}"
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PATH_SUFFIXES include)
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(UDEV
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DEFAULT_MSG UDEV_LIBRARY UDEV_INCLUDE_DIR)
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if(UDEV_FOUND)
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list(APPEND UDEV_LIBRARIES ${UDEV_LIBRARY})
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list(APPEND UDEV_INCLUDE_DIRS ${UDEV_INCLUDE_DIR})
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mark_as_advanced(UDEV_ROOT_DIR)
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endif()
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mark_as_advanced(UDEV_INCLUDE_DIR UDEV_LIBRARY)
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# patch for version mismatch
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function(_patch_udev_version_mismatch)
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get_filename_component(UDEV_LIBRARY_DIR ${UDEV_LIBRARY} DIRECTORY)
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set(UDEV_LIB_DESTINATION "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/libudev.so.0")
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if (EXISTS "${UDEV_LIBRARY_DIR}/libudev.so.0")
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message(STATUS "Found dynamic library at ${UDEV_LIBRARY_DIR}/libudev.so.0")
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elseif(EXISTS ${UDEV_LIB_DESTINATION})
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message(STATUS "Found dynamic library at ${UDEV_LIB_DESTINATION}")
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else()
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message(STATUS "Not found dynamic library libudev.so.0")
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execute_process(
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COMMAND ln -sf ${UDEV_LIBRARY} ${UDEV_LIB_DESTINATION}
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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OUTPUT_VARIABLE CREATE_SYMLINK_OUTPUT
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ERROR_VARIABLE CREATE_SYMLINK_ERROR)
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if(EXISTS ${UDEV_LIB_DESTINATION})
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message(STATUS "Created symlink to: ${UDEV_LIB_DESTINATION}")
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else()
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message(WARNING "Failed to create symlink: ${CREATE_SYMLINK_ERROR}")
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endif()
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endif()
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endfunction()
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_patch_udev_version_mismatch()

‎netusb_camera_driver/cmake/download_netusbcam.py

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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Author: Yuki Furuta <[email protected]>
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import cStringIO
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import logging
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import os
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import platform
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import shutil
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import subprocess
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import sys
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import urllib2
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import zipfile
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logging.basicConfig(level=logging.INFO)
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log = logging.getLogger(os.path.basename(__file__))
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# global variables
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VERSION="1.39"
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if platform.machine() == "x86_64":
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ARCH="amd64"
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elif platform.machine() == "i386":
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ARCH="i386"
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else:
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log.fatal("architecture {arch} is not supported.".format(arch=platform.machine()))
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sys.exit(1)
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DRIVER_URL="http://www.mvision.co.jp/DL/net3/3iCube_Linux_{version}.zip".format(version=VERSION)
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DEB_PATH="3iCube_Linux_{version}/03_Driver/netusbcam_{version}-1_{arch}_libudev.deb".format(version=VERSION,
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arch=ARCH)
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SHARED_LIB_PATH="usr/lib/libNETUSBCAM.so"
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INCLUDE_DIR_PATH="usr/include"
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LIBRARY_DESTINATION = sys.argv[1]
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INCLUDE_DIR_DESTINATION = sys.argv[2]
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log.info("Downloading driver")
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res = urllib2.urlopen(DRIVER_URL)
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if res.code != 200:
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log.fatal("failed to download from {url}: return code: {code}, msg: {msg}".format(url=res.url,
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code=res.code,
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msg=res.msg))
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sys.exit(1)
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log.info("Unarchiving tarball")
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with zipfile.ZipFile(cStringIO.StringIO(res.read())) as z:
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z.extractall()
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subprocess.check_call(['dpkg', '--extract', DEB_PATH, '.'])
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log.info("Copying library")
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src_dir = os.path.abspath(os.path.dirname(SHARED_LIB_PATH))
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dst_dir = os.path.abspath(os.path.dirname(LIBRARY_DESTINATION))
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for src_file in os.listdir(src_dir):
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src_path = os.path.join(src_dir, src_file)
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dst_path = os.path.join(dst_dir, src_file)
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if os.path.islink(src_path):
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link_dst = os.readlink(src_path)
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os.symlink(link_dst, dst_path)
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else:
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shutil.copy(src_path, dst_path)
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log.info(" %s => %s" % (src_path, dst_path))
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log.info("Copying header files")
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for f in os.listdir(INCLUDE_DIR_PATH):
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if f.endswith(".h") or f.endswith(".hpp") or f.endswith(".hh"):
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if not os.path.exists(INCLUDE_DIR_DESTINATION):
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log.info(" make directory: %s" % INCLUDE_DIR_DESTINATION)
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os.makedirs(INCLUDE_DIR_DESTINATION)
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src_path = os.path.join(INCLUDE_DIR_PATH, f)
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dst_path = os.path.join(INCLUDE_DIR_DESTINATION, f)
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shutil.copy(src_path, dst_path)
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log.info(" %s => %s" % (src_path, dst_path))
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