外语网站制作,网站设计手机型,免费的项目管理软件,wordpress模板文件目录SLAM算法与工程实践系列文章
下面是SLAM算法与工程实践系列文章的总链接#xff0c;本人发表这个系列的文章链接均收录于此
SLAM算法与工程实践系列文章链接 下面是专栏地址#xff1a;
SLAM算法与工程实践系列专栏 文章目录 SLAM算法与工程实践系列文章SLAM算法与工程实践…SLAM算法与工程实践系列文章
下面是SLAM算法与工程实践系列文章的总链接本人发表这个系列的文章链接均收录于此
SLAM算法与工程实践系列文章链接 下面是专栏地址
SLAM算法与工程实践系列专栏 文章目录 SLAM算法与工程实践系列文章SLAM算法与工程实践系列文章链接SLAM算法与工程实践系列专栏 前言SLAM算法与工程实践——相机篇传统相机使用1相机相关命令出现的问题调用相机以MJPG格式打开相机 前言
这个系列的文章是分享SLAM相关技术算法的学习和工程实践 SLAM算法与工程实践——相机篇传统相机使用1
相机相关命令
插上USB相机使用命令查看USB设备
lsusb可以识别相机
使用命令查看识别到几个摄像头
ll /dev/video*然后改变其权限
sudo chmod 777 /dev/video0
sudo chmod 777 /dev/video1安装 v4l-utils 工具包
sudo apt-get install v4l-utils使用下列命令查看相机参数
v4l2-ctl -d /dev/video0 --list-formats-ext在命令行输出为
ioctl: VIDIOC_ENUM_FMTType: Video Capture[0]: MJPG (Motion-JPEG, compressed)Size: Discrete 2560x800Interval: Discrete 0.017s (60.000 fps)Interval: Discrete 0.033s (30.000 fps)Interval: Discrete 0.067s (15.000 fps)Size: Discrete 2560x720Interval: Discrete 0.017s (60.000 fps)Interval: Discrete 0.033s (30.000 fps)Size: Discrete 1280x800Interval: Discrete 0.008s (120.000 fps)Interval: Discrete 0.017s (60.000 fps)Interval: Discrete 0.033s (30.000 fps)Size: Discrete 1280x792Interval: Discrete 0.008s (120.000 fps)Interval: Discrete 0.017s (60.000 fps)Interval: Discrete 0.033s (30.000 fps)Size: Discrete 1280x400Interval: Discrete 0.008s (120.000 fps)Interval: Discrete 0.017s (60.000 fps)Interval: Discrete 0.033s (30.000 fps)Size: Discrete 640x400Interval: Discrete 0.005s (210.000 fps)Interval: Discrete 0.008s (120.000 fps)Interval: Discrete 0.017s (60.000 fps)Size: Discrete 640x392Interval: Discrete 0.005s (210.000 fps)Interval: Discrete 0.008s (120.000 fps)Interval: Discrete 0.017s (60.000 fps)[1]: YUYV (YUYV 4:2:2)Size: Discrete 2560x800Interval: Discrete 0.500s (2.000 fps)Size: Discrete 2560x720Interval: Discrete 0.500s (2.000 fps)Size: Discrete 1280x800Interval: Discrete 0.200s (5.000 fps)Size: Discrete 1280x792Interval: Discrete 0.200s (5.000 fps)Size: Discrete 1280x400Interval: Discrete 0.067s (15.000 fps)Interval: Discrete 0.100s (10.000 fps)Size: Discrete 640x400Interval: Discrete 0.033s (30.000 fps)Size: Discrete 640x392Interval: Discrete 0.033s (30.000 fps)
可以看出本相机的参数和对应设置下的帧率最高为 120 帧分辨率为 2560x800我这选用 1280x400 接下来看看你的USB摄像头支持什么附加属性只需要执行下面的命令即可
v4l2-ctl -d /dev/video0 --list-ctrls得到下面的结果
User Controlsbrightness 0x00980900 (int) : min-64 max64 step1 default0 value0contrast 0x00980901 (int) : min0 max95 step1 default0 value0saturation 0x00980902 (int) : min0 max100 step1 default64 value64hue 0x00980903 (int) : min-2000 max2000 step1 default0 value0white_balance_automatic 0x0098090c (bool) : default1 value1gamma 0x00980910 (int) : min100 max300 step1 default100 value100使用应用程序茄子cheese
输入命令
sudo apt-get install cheese装好后用命令cheese即可打开。如果指定打开video1输入命令
cheese -d /dev/video1读取相机配置文件 HBV-1780-2.yaml
int UseStereoCam::loadCamParam(std::string cfgPath) {cv::FileStorage fs(cfgPath, cv::FileStorage::READ);if (fs.isOpened()) {std::cout Stereo Camera Paramter is loading... std::endl;//内参矩阵fs[IntrinsicMatrixLeft] IntrinsicMatrixLeft; //存放内参矩阵,左相机IntrinsicMatrixLeft.atdouble(0, 0) IntrinsicMatrixLeft.atdouble(0, 0) * resizeScalse;IntrinsicMatrixLeft.atdouble(1, 1) IntrinsicMatrixLeft.atdouble(1, 1) * resizeScalse;IntrinsicMatrixLeft.atdouble(0, 2) IntrinsicMatrixLeft.atdouble(0, 2) * resizeScalse;IntrinsicMatrixLeft.atdouble(1, 2) IntrinsicMatrixLeft.atdouble(1, 2) * resizeScalse;fs[IntrinsicMatrixRight] IntrinsicMatrixRight; //存放内参矩阵,右相机IntrinsicMatrixRight.atdouble(0, 0) IntrinsicMatrixRight.atdouble(0, 0) * resizeScalse;IntrinsicMatrixRight.atdouble(1, 1) IntrinsicMatrixRight.atdouble(1, 1) * resizeScalse;IntrinsicMatrixRight.atdouble(0, 2) IntrinsicMatrixRight.atdouble(0, 2) * resizeScalse;IntrinsicMatrixRight.atdouble(1, 2) IntrinsicMatrixRight.atdouble(1, 2) * resizeScalse;//畸变系数fs[DistCoeffLeft] DistCoeffLeft; //畸变矩阵左相机fs[DistCoeffRight] DistCoeffRight; //畸变矩阵右相机//旋转矩阵 平移向量fs[RotationMatrix] R;fs[TranslationVector] T;T T * resizeScalse;fs.release();leftFocalLength (IntrinsicMatrixLeft.atdouble(0, 0) IntrinsicMatrixLeft.atdouble(1, 1)) / 2.0;rightFocalLength (IntrinsicMatrixRight.atdouble(0, 0) IntrinsicMatrixRight.atdouble(1, 1)) / 2.0;// 处理焦距例如取平均值focalLength (leftFocalLength rightFocalLength) / 2.0;fx (IntrinsicMatrixLeft.atdouble(0, 0) IntrinsicMatrixRight.atdouble(0, 0)) / 2.0;fy (IntrinsicMatrixLeft.atdouble(1, 1) IntrinsicMatrixRight.atdouble(1, 1)) / 2.0;cx (IntrinsicMatrixLeft.atdouble(0, 2) IntrinsicMatrixRight.atdouble(0, 2)) / 2.0;cy (IntrinsicMatrixLeft.atdouble(1, 2) IntrinsicMatrixRight.atdouble(1, 2)) / 2.0;baseline cv::norm(T) / 100; //基线baseline单位设置为分米std::cout camera parameter loaded successfully! std::endl;return 0;} else {std::cout Failed to load camera parameter! std::endl;return -1;}}出现的问题
参考
解决OpenCV的GStreamer warning警告
在用opencv调用摄像头时报错 [ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (935) open OpenCV | GStreamer warning: Cannot query video position: status0, value-1, duration-1
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (1758) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module v4l2src0 reported: Device /dev/video0 failed during initialization
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (515) startPipeline OpenCV | GStreamer warning: unable to start pipeline
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (1057) setProperty OpenCV | GStreamer warning: no pipeline
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (480) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
摄像头打开失败!解决办法
修改打开摄像头的代码如下
cap.open(0,CAP_V4L2);调用相机
在编写多个主函数共用src和include定义的类的文件时CMakeLists.txt的编写应该类似下面的写法然后包含每个子项目的子文件夹
cmake_minimum_required(VERSION 2.8)
project(DEPTH_COMPUTE)IF (NOT CMAKE_BUILD_TYPE)SET(CMAKE_BUILD_TYPE Release)
ENDIF ()MESSAGE(Build type: ${CMAKE_BUILD_TYPE})# set path
set(LIB_PATH ${PROJECT_SOURCE_DIR}/lib)
set(HEAD_PATH ${PROJECT_SOURCE_DIR}/include)
set(EXEC_PATH ${PROJECT_SOURCE_DIR}/bin)set(DEPTH_LIB calc_depth) # set libiary namefind_package(OpenCV 4 REQUIRED)
find_package(Eigen3 3.1.0 NO_MODULE)
find_package(Pangolin REQUIRED)include_directories(${HEAD_PATH})
aux_source_directory(${PROJECT_SOURCE_DIR}/src LIB_SRC)SET(LIBRARY_OUTPUT_PATH ${LIB_PATH})
add_library(${DEPTH_LIB} SHARED ${LIB_SRC})
TARGET_LINK_LIBRARIES(${DEPTH_LIB}${OpenCV_LIBS}${EIGEN3_LIBS}${Pangolin_LIBRARIES}
)# add subdirectories 这里是具体的主函数
add_subdirectory(useCamForShot)
add_subdirectory(openCamera)
子项目的CMakeLists.txt应该如下
cmake_minimum_required(VERSION 2.8)
project(OPENCAM)find_package(OpenCV 4 REQUIRED)include_directories(${HEAD_PATH})
link_directories(${LIB_PATH})set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS -O3)
set(EXECUTABLE_OUTPUT_PATH ${EXEC_PATH})#add_library(${DEPTH_LIB} SHARED ${SRC_LIST})add_executable(open_camera open_camera.cpp)
target_link_libraries(open_camera ${DEPTH_LIB} ${OpenCV_LIBS})以MJPG格式打开相机
参考
OpenCVV4L实现MJPG格式拉取USB摄像头
关于openCV VideoCapture获取摄像头MJPG视频的问题
相机支持的视频流格式 在打开相机后设置参数
capture.open(camIndex, cv::CAP_V4L); // open camera//设置编码格式这里只能写在分辨率和帧率后面否则无效
capture.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc(M, J, P, G));//视频流格式
