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ros-drivers / libuvc_ros

http://www.ros.org/wiki/libuvc_ros
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MJPEG support for released package #43

Open 7675t opened 7 years ago

7675t commented 7 years ago

I believe Motion JPEG(mjpeg) cameras are not supported in current released ROS packages. Is it correct?

I think the remedy is to release libuvc newly (v.0.0.6). It will resolve all problem related to mjpeg. I'm not sure the backward compatibility of libuvc to v.0.0.5. Are there any difficulties to release libuvc v0.0.6 ? @ktossell

Thank you.

k-okada commented 7 years ago

I think releasing newer version of libuvc and libuvc_ros into new distro, like M-Turtle is ok. I (or other ROS Orphaned Package Maintainer) can do that. But if you want to use this package with libuvc v0.0.6 in current distribution, such as Kinetic, I'm afraid that I can not say anything about an regression due to the update, because I have not looking into the source tree. So I'm afraid that I can take the responsibility for that change and I need to some other maintainer to do that.

Assuming if you want use this in Kinetic, I think re-release libuvc_camera with enabling libjpeg dependency is very tricky but sounds ok to me. It just add new function into binary and there might be little change for regression. The code path used by current user will not change, so there might be no harm.

BTW, why libuvc_camera requires libuvc > 0.0.5 ? I could not find any difference between v0.0.5 and latest for mjpeg features. https://github.com/ktossell/libuvc/commits/v0.0.5/src/frame-mjpeg.c https://github.com/ktossell/libuvc/commits/master/src/frame-mjpeg.c And I did not remember until I pushed Blame button, but it is me who added this change https://github.com/ros-drivers/libuvc_ros/pull/41. May be this is my fault. uvc_mjpeg2rgb is already available on v0.0.5 if libuvc is compiled with libjpeg and even if you released v0.0.6 without libjpeg, it goes error, so we should change the code like.

+#if libuvc_VERSION     >= 00005 /* version >= 0.0.5 and have jpeg */ (How can we ensure that we have libjpeg on libuvc, running nm libuvc.so | grep mjpeg on cmake???)

Or assuming v0.0.5 have libjpeg support.

So, what I can do is.

  1. add https://github.com/ktossell/libuvc/commit/351203e9ffe440a6471443e046f2cffc076757d3 into v0.0.5 of libuvc at release repository
  2. fix package.xml at https://github.com/ros-drivers-gbp/libuvc-release/blob/ad4a3653018eaddbea2201d57313b62239e3157e/jade/package.xml#L13
  3. re-release libuvc as v0.0.5-1
  4. fix 'libuvc_camera requires libuvc > v0.0.5'
  5. release new version of libuvc_camera

But I do not have mjpeg device and did not sure if this change really enabling mjpeg support, so @7675t can you test this on your device?

  1. compile libuvc v.0.0.5 with jpeg support (need to apply https://github.com/ktossell/libuvc/commit/351203e9ffe440a6471443e046f2cffc076757d3)
  2. re-compile libuvc_camera with ' libuvc_VERSION >= 00005'
  3. check if this works for MJPEG camera and also normal (YUYV???) camera.
7675t commented 7 years ago

I understand we should not do major changes for already released packages. So true, but I feel pessimistic while I tried.

  1. compile libuvc v.0.0.5 with jpeg support (need to apply ktossell/libuvc@351203e)

No problem to build. Say this is libuvc(v0.0.5-1).

  1. re-compile libuvc_camera with ' libuvc_VERSION >= 00005'

I got errors like:

/home/tajima/Codes/theta_ws/src/libuvc_ros/libuvc_camera/src/camera_driver.cpp:338:65: error: ‘uvc_find_devices’ was not declared in this scope
     new_config.serial.empty() ? NULL : new_config.serial.c_str());

It is OK. libuvc_camera contains three 'libuvc_VERSION > 00005' lines. The error can be avoided by changing the line only on MJPEG.

However,

  1. check if this works for MJPEG camera and also normal (YUYV???) camera.

My camera is RICOH Theta S in MJPEG mode. I got error with libuvc(v0.0.5-1) like:

[ INFO] [1505950839.718105168]: Opening camera with vendor=0x5ca, product=0x2711, serial="", index=0
uvc_start_streaming: Not supported (-12)
[ INFO] [1505950839.719763562]: camera calibration URL: file:///tmp/cam.yaml
[ INFO] [1505950839.719813906]: Unable to open camera calibration file [/tmp/cam.yaml]
[ WARN] [1505950839.719833144]: Camera calibration file /tmp/cam.yaml not found.
[camera/mycam-2] process has died [pid 13994, exit code 255, cmd /home/tajima/Codes/theta_ws/devel/lib/libuvc_camera/camera_node __name:=mycam __log:=/home/tajima/.ros/log/1b9cab3a-9e5d-11e7-bbc7-0028f8c8dc14/camera-mycam-2.log].
log file: /home/tajima/.ros/log/1b9cab3a-9e5d-11e7-bbc7-0028f8c8dc14/camera-mycam-2*.log

With libuvc(master), it works fine.

And my laptop webcam works fine with both version (v0.0.5-1 and master) in uncompressed video mode(yuyv).

Unfortunately, concerning MJPEG support of libuvc, we need other changes we don't know from v0.0.5. As @k-okada said, ROS package maintainer cannot fix it with confident.

I feel I should give up to include it in Kinetic. Maybe Lunar or Mutant... But if we do so, we should fix the description in ROSWiki it doesn't support mjpeg. And we need to wait for libuvc(v0.0.6) anyway.

k-okada commented 7 years ago

Thank you for your efforts. someting in https://github.com/ktossell/libuvc/compare/v0.0.5...master is very important..... I asked libuvc to add new tag, wait and see.... https://github.com/ktossell/libuvc/issues/86

-- ◉ Kei Okada

2017-09-21 9:03 GMT+09:00 Ryosuke Tajima notifications@github.com:

I understand we should not do major changes for already released packages. So true, but I feel pessimistic while I tried.

  1. compile libuvc v.0.0.5 with jpeg support (need to apply ktossell/libuvc@351203e https://github.com/ktossell/libuvc/commit/351203e)

No problem to build. Say this is libuvc(v0.0.5-1).

  1. re-compile libuvc_camera with ' libuvc_VERSION >= 00005'

I got errors like:

/home/tajima/Codes/theta_ws/src/libuvc_ros/libuvc_camera/src/camera_driver.cpp:338:65: error: ‘uvc_find_devices’ was not declared in this scope new_config.serial.empty() ? NULL : new_config.serial.c_str());

It is OK. libuvc_camera contains three 'libuvc_VERSION > 00005' lines. The error can be avoided by changing the line only on MJPEG.

However,

  1. check if this works for MJPEG camera and also normal (YUYV???) camera.

My camera is RICOH Theta S in MJPEG mode. I got error with libuvc(v0.0.5-1) like:

[ INFO] [1505950839.718105168]: Opening camera with vendor=0x5ca, product=0x2711, serial="", index=0 uvc_start_streaming: Not supported (-12) [ INFO] [1505950839.719763562]: camera calibration URL: file:///tmp/cam.yaml [ INFO] [1505950839.719813906]: Unable to open camera calibration file [/tmp/cam.yaml] [ WARN] [1505950839.719833144]: Camera calibration file /tmp/cam.yaml not found. [camera/mycam-2] process has died [pid 13994, exit code 255, cmd /home/tajima/Codes/theta_ws/devel/lib/libuvc_camera/camera_node name:=mycam log:=/home/tajima/.ros/log/1b9cab3a-9e5d-11e7-bbc7-0028f8c8dc14/camera-mycam-2.log]. log file: /home/tajima/.ros/log/1b9cab3a-9e5d-11e7-bbc7-0028f8c8dc14/camera-mycam-2*.log

With libuvc(master), it works fine.

And my laptop webcam works fine with both version (v0.0.5-1 and master) In uncompressed video mode(yuyv).

Unfortunately, concerning MJPEG support of libuvc, we need other changes we don't know from v0.0.5. As @k-okada https://github.com/k-okada said, ROS package maintainer cannot fix it with confident.

I feel I should give up to include it in Kinetic. Maybe Lunar or Mutant... But if we do so, we should fix the description in ROSWiki it doesn't support mjpeg. And we need to wait for libuvc(v0.0.6) anyway.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ros-drivers/libuvc_ros/issues/43#issuecomment-331013938, or mute the thread https://github.com/notifications/unsubscribe-auth/AAeG3Fzq0ZJQ0S7pXPlce6otBxBhvz5yks5skafGgaJpZM4PdPNJ .

7675t commented 7 years ago

He added new tag very quickly, thanks @ktossell ! Now how can we do? I can check libuvc(v0.0.6) + libuvc_camera with my hardwares, but the variation is limited.

And it may happens after ROSCon.

In my opinion, ROS libuvc_camera users have used it without mpeg support, so mpeg support cannot be regressed. The other part (YUYV, RGB, etc) is basic part of libuvc, so the possibility of problem should be low if we check it with several hardwares.

k-okada commented 7 years ago

I asked @ktossell to give @7675t write permission of release repository. Once you get that, let's release from L-Turtle. It only has 3% usages, so I think it is ok -> http://download.ros.org/downloads/metrics/metrics-report-2017-07.pdf

7675t commented 7 years ago

Sounds nice. Thank you!