logitech C930e start tutorial

MURRAIYA·2024년 2월 28일
0

ROS::usb_cam

ASUS 노트북 이용 → 

ls -ltr /dev/video*

노트북 내장 웹캠이 video0, video1
logitech C930이 video2, video3 로 잡히는 듯하다.

실행 - roslaunch

roslaunch usb_cam usb_cam-test.launch

launch 파일에서 video_device value=video2로 전환한다. (원하는 캠으로) 각각이 웹캠과 usb중 뭔지는 모르겠다. 인식하는 순서가 뭔지… 가끔 둘이 바뀐다.

image width, height를 수정할 수 있다. 당연히 막하면 안되고이용 가능한 픽셀 단위를 확인한다. video 옵션인 -d /dev/video*(해당video)를 이용.

v4l2-ctl -d /dev/video2 --list-formats-ext

해당 카메라의 두가지 형식이 나온다. YUYV 형식과 MJPG 형식이 있는데 MJPG가 compressed임을 알 수 있다. 1920x1080 pixel에서 YUYV-5fps, MJPG-30fps가 나온다. 

Index       : 0
	Type        : Video Capture
	Pixel Format: 'YUYV'
	Name        : YUYV 4:2:2
		Size: Discrete 640x480
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 160x120
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 176x144
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 320x180
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 320x240
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 352x288
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 424x240
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 800x448
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 800x600
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.042s (24.000 fps)
			Interval: Discrete 0.050s (20.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 960x540
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1024x576
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1600x896
			Interval: Discrete 0.133s (7.500 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1920x1080
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 2304x1296
			Interval: Discrete 0.500s (2.000 fps)
		Size: Discrete 2304x1536
			Interval: Discrete 0.500s (2.000 fps)

Index       : 1
Type        : Video Capture
Pixel Format: 'MJPG' (compressed)
Name        : Motion-JPEG
	Size: Discrete 640x480
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 160x120
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 176x144
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 320x180
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 320x240
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 352x288
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 480x270
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 800x448
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 800x600
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 960x540
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 1024x576
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 1600x896
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)
	Size: Discrete 1920x1080
		Interval: Discrete 0.033s (30.000 fps)
		Interval: Discrete 0.042s (24.000 fps)
		Interval: Discrete 0.050s (20.000 fps)
		Interval: Discrete 0.067s (15.000 fps)
		Interval: Discrete 0.100s (10.000 fps)
		Interval: Discrete 0.133s (7.500 fps)
		Interval: Discrete 0.200s (5.000 fps)

launch file 수정시 compressed를 쓰고싶으면 pixel format value=”mjpeg”로 둔다. C++ 소스코드를 보면 mjpg가 아니라 mjpeg로 코드를 짜놨다. 다시 yuyv로 가보면 확실히 딜레이가 심함을 알 수 있다.

실행 - rosrun ⭐

rosrun usb_cam usb_cam_node

선호하는 방법. node파일에서 auto focus와 white balance 등 parameter 조정을 할 수 있다. 조정후에는 꼭 catkin_make 를 다시 하고 실행해야 변경사항이 적용된다. .py는 그냥 해도 되는데 .cpp 는 catkin_make를 유의할 것.

auto_white 등 필요한 조정을 마친 후 적용해보면 진짜 어둡고 푸른빛이 도는 영상이 나타난다. 이후 고정값을 좀 조정해주자.

roslaunch와 달리 rosrun은 영상이 바로 뜨지 않는다. rviz 켜주면 된다.

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MURRAIYA
🙃SUJI KIM🙃 🚩 Inha University Undergraduate 🚗 Autonomous Driving Robots 📷 Computer Vision 💫 SLAM
이전 포스트

[ROS] catkin_create_package

다음 포스트

[ROS] remapping

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