Add netusb_camera_driver package #85

furushchev · 2016-06-12T06:40:38Z

This PR adds driver package for NETUSB camera.

added nodes / launches
auto driver installation
tested with real camera

k-okada · 2016-06-12T07:31:35Z

Why you have to use this camera? Do you agave up using Linux box on the
robot?

2016年6月12日日曜日、[email protected]さんは書きました:

This PR adds driver package for NETUSB camera.

Please do not merge until all features are tested.

You can view, comment on, or merge this pull request online at:

#85
Commit Summary

add netusb_camera_driver package

add netusb_camera_driver to meta package run_depend

File Changes

M jsk_mbzirc/package.xml
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-0 (1)

A netusb_camera_driver/CMakeLists.txt
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-1 (58)

A netusb_camera_driver/cfg/NETUSBCamera.cfg
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-2 (32)

A netusb_camera_driver/cmake/FindOrDownloadNETUSBCAM.cmake
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-3 (47)

A netusb_camera_driver/cmake/download_netusbcam.py
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-4 (58)

A netusb_camera_driver/cmake/patch_libudev_symlink.py
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-5 (39)

A netusb_camera_driver/include/netusb_camera_driver/NETUSBCamera.h
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-6 (36)

A netusb_camera_driver/include/netusb_camera_driver/exceptions.h
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-7 (32)

A
netusb_camera_driver/include/netusb_camera_driver/netusb_camera_nodelet.h
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-8 (57)

A netusb_camera_driver/launch/camera.launch
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-9 (19)

A netusb_camera_driver/nodelet_plugins.xml
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-10 (7)

A netusb_camera_driver/package.xml
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-11 (31)

A netusb_camera_driver/src/NETUSBCamera.cpp
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-12 (122)

A netusb_camera_driver/src/netusb_camera_node.cpp
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-13 (23)

A netusb_camera_driver/src/netusb_camera_nodelet.cpp
https://github.com/start-jsk/jsk_mbzirc/pull/85/files#diff-14 (178)

Patch Links:

https://github.com/start-jsk/jsk_mbzirc/pull/85.patch

https://github.com/start-jsk/jsk_mbzirc/pull/85.diff

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◉ Kei Okada

furushchev · 2016-06-12T07:51:32Z

@k-okada Sorry, I don't know about linux box.
If I understand @tongtybj 's word correctly, this is very wide fisheye camera for task1 and 3 to view the around course from drone.

tongtybj · 2016-06-12T09:16:19Z

@k-okada
The NETUSB camera has following features:

boardtype (< 10g)
UXGA(1600 x 1200)
Global Shutter
Fisheye
Please see "BC4203CU" in http://www.mvision.co.jp/index_net.html

BTW, I also don't know about linux box... What's that?

k-okada · 2016-06-13T03:22:48Z

do you need netusb protocol? or fisheye camera? if you need fisheye camera,
please make a list for candidates

◉ Kei Okada

On Sun, Jun 12, 2016 at 6:16 PM, 趙漠居 [email protected] wrote:

@k-okada https://github.com/k-okada
The NETUSB camera has following features:

boardtype (< 10g)

UXGA(1600 x 1200)

Global Shutter

Fisheye
Please see "BC4203CU" in http://www.mvision.co.jp/index_net.html

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tongtybj · 2016-06-13T05:55:56Z

@k-okada

netusb is one of the candidates we are testing.
fisheye is necessary, because we need very big FOV in the finally landing porces. Please check video in https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc
other important criteria for on-board camera:
1. board-type => light
2. global shutter => guarantee image quality when uav vibrates strongly.
3. fisheye => reason above
4. enough resolution => testing 1600 x 1200
Canditates:

Net Camera(netusb)
BC4203CU, http://www.mvision.co.jp/index_net.html
IDS UI-3251LE, https://jp.ids-imaging.com/store/produkte/kameras/ui-3251le.html

Both camera are able to attach fisheye lens.

k-okada · 2016-06-13T16:45:15Z

if you need fisheye, you do not need gimbal, is it correct?

◉ Kei Okada

On Mon, Jun 13, 2016 at 2:55 PM, 趙漠居 [email protected] wrote:

@k-okada https://github.com/k-okada

netusb is one of the candidates we are testing.

fisheye is necessary, because we need very big FOV in the finally
landing porces. Please check video in
https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc

other important criteria for on-board camera:

board-type => light

global shutter => guarantee image quality when uav vibrates
strongly.

fisheye => reason above

4. enough resolution => testing 1600 x 1200

Canditates:

Net Camera(netusb) BC4203CU, http://www.mvision.co.jp/index_net.html

IDS UI-3251LE,
https://jp.ids-imaging.com/store/produkte/kameras/ui-3251le.html

Both camera are able to attach fisheye lens.

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tongtybj · 2016-06-13T21:04:03Z

#82

tongtybj · 2016-06-17T05:41:11Z

@furushchev
I got following error when building the package:

Warnings   << netusb_camera_driver:cmake /home/leus/ros/catkin_ws/logs/netusb_camera_driver/build.cmake.000.log
INFO:root:Downloading driver
INFO:root:Unarchiving tarball
INFO:root:Copying library
INFO:root:Copying header files
INFO:root:Finding libudev.so.0
Traceback (most recent call last):
  File "/home/leus/ros/catkin_ws/src/jsk_mbzirc/netusb_camera_driver/cmake/patch_libudev_symlink.py", line 35, in <module>
    if os.path.islink(fpath):
NameError: name 'fpath' is not defined
cd /home/leus/ros/catkin_ws/build/netusb_camera_driver; catkin build --get-env netusb_camera_driver | catkin env -si  /usr/bin/cmake /home/leus/ros/catkin_ws/src/jsk_mbzirc/netusb_camera_driver --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/leus/ros/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/leus/ros/catkin_ws/install; cd -
.....................................................................................................
Finished  <<< netusb_camera_driver                   [ 21.2 seconds ]                                
[build] Summary: All 8 packages succeeded!                                                           
[build]   Ignored:   13 packages were skipped or are blacklisted.                                    
[build]   Warnings:  2 packages succeeded with warnings.                                             
[build]   Abandoned: None.                                                                           
[build]   Failed:    None.                                                                           
[build] Runtime: 21.5 seconds total.                                                                 
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Is it OK?

furushchev · 2016-07-01T09:14:00Z

failed because #88 is not merged

tongtybj · 2016-07-21T07:22:52Z

@furushchev

古田くん、RGBの件は何か進展はあった？

furushchev · 2016-07-21T08:52:18Z

@tongtybj waiting for mail reply...

tongtybj · 2016-07-21T09:00:59Z

@furushchev

oh...

furushchev · 2016-07-21T10:50:20Z

@tongtybj replies have arrived. I'm now discussing via email.

tongtybj · 2016-07-21T12:08:57Z

@furushchev
wonderful!

add netusb_camera_driver to meta package run_depend

furushchev · 2016-07-23T12:24:47Z

Now data from driver in RGB mode is broken

So in launch file, RAW data is used (I found that raw data is Bayer GRBG Image) and debayered to RGB.

furushchev · 2016-07-23T12:25:32Z

Now I'm discussing to manufacturer by email.

And now I think its ok to merge. @k-okada

k-okada · 2016-07-25T07:31:45Z

i do not think we have time to maintain new driver, please consider using different camera.

tongtybj · 2016-07-25T16:28:43Z

@k-okada

"diffrent camera" means using the device we have already developed?like prosilica?

k-okada · 2016-07-26T03:00:17Z

yes
"diffrent camera" -> "different camera"
and I know prosillica is too heavy

◉ Kei Okada

On Tue, Jul 26, 2016 at 1:28 AM, 趙漠居 [email protected] wrote:

@k-okada https://github.com/k-okada

"diffrent camera" means using the device we have already developed?like
prosilica?

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tongtybj · 2016-07-26T05:35:42Z

@k-okada
So how about this
https://www.ptgrey.com/chameleon3-usb3-vision-cameras
Are "we" familiar with this device?

k-okada · 2016-07-26T07:13:33Z

http://wiki.ros.org/pointgrey_camera_driver

◉ Kei Okada

On Tue, Jul 26, 2016 at 2:35 PM, 趙漠居 [email protected] wrote:

@k-okada https://github.com/k-okada
So how about this
https://www.ptgrey.com/chameleon3-usb3-vision-cameras
Are "we" familiar with this device?

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k-okada mentioned this pull request Jun 13, 2016

Add gimbal gazebo plugin, applying in task1 to stabilize the camera. #82

Open

3 tasks

furushchev force-pushed the netusb-camera-driver branch from c64800a to d9fb2bc Compare July 1, 2016 08:01

furushchev changed the title ~~[WIP] Add netusb_camera_driver package~~ Add netusb_camera_driver package Jul 1, 2016

furushchev force-pushed the netusb-camera-driver branch from d9fb2bc to c64800a Compare July 21, 2016 04:11

add netusb_camera_driver package

2bf0a45

add netusb_camera_driver to meta package run_depend

furushchev force-pushed the netusb-camera-driver branch from c64800a to 2bf0a45 Compare July 22, 2016 09:48

k-okada merged commit 7cef23e into start-jsk:master Jul 25, 2016

furushchev deleted the netusb-camera-driver branch July 26, 2016 05:57

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Add netusb_camera_driver package #85

Add netusb_camera_driver package #85

furushchev commented Jun 12, 2016 •

edited

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k-okada commented Jun 12, 2016

Please do not merge until all features are tested.

furushchev commented Jun 12, 2016

tongtybj commented Jun 12, 2016 •

edited

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k-okada commented Jun 13, 2016

tongtybj commented Jun 13, 2016

k-okada commented Jun 13, 2016

netusb is one of the candidates we are testing.

fisheye is necessary, because we need very big FOV in the finally
landing porces. Please check video in
https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc

4. enough resolution => testing 1600 x 1200

tongtybj commented Jun 13, 2016

tongtybj commented Jun 17, 2016

furushchev commented Jul 1, 2016

tongtybj commented Jul 21, 2016

furushchev commented Jul 21, 2016

tongtybj commented Jul 21, 2016

furushchev commented Jul 21, 2016 •

edited

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tongtybj commented Jul 21, 2016

furushchev commented Jul 23, 2016

furushchev commented Jul 23, 2016

k-okada commented Jul 25, 2016

tongtybj commented Jul 25, 2016

k-okada commented Jul 26, 2016

tongtybj commented Jul 26, 2016

k-okada commented Jul 26, 2016

Add netusb_camera_driver package #85

Add netusb_camera_driver package #85

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furushchev commented Jun 12, 2016 • edited Loading

k-okada commented Jun 12, 2016

Please do not merge until all features are tested.

furushchev commented Jun 12, 2016

tongtybj commented Jun 12, 2016 • edited Loading

k-okada commented Jun 13, 2016

tongtybj commented Jun 13, 2016

k-okada commented Jun 13, 2016

netusb is one of the candidates we are testing.

fisheye is necessary, because we need very big FOV in the finally landing porces. Please check video in https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc

4. enough resolution => testing 1600 x 1200

tongtybj commented Jun 13, 2016

tongtybj commented Jun 17, 2016

furushchev commented Jul 1, 2016

tongtybj commented Jul 21, 2016

furushchev commented Jul 21, 2016

tongtybj commented Jul 21, 2016

furushchev commented Jul 21, 2016 • edited Loading

tongtybj commented Jul 21, 2016

furushchev commented Jul 23, 2016

furushchev commented Jul 23, 2016

k-okada commented Jul 25, 2016

tongtybj commented Jul 25, 2016

k-okada commented Jul 26, 2016

tongtybj commented Jul 26, 2016

k-okada commented Jul 26, 2016

furushchev commented Jun 12, 2016 •

edited

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tongtybj commented Jun 12, 2016 •

edited

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fisheye is necessary, because we need very big FOV in the finally
landing porces. Please check video in
https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc

furushchev commented Jul 21, 2016 •

edited

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