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ros-drivers / usb_cam

A ROS Driver for V4L2 USB Cameras
https://ros-drivers.github.io/usb_cam/main/
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[bug] After starting the camera, the image is blue screen within 10s, and the image is displayed normally after 10s. #296

Open zymouse opened 12 months ago

zymouse commented 12 months ago

work out in advance

flynneva commented 11 months ago

@zymouse could you give more info here like what format you're using, frame rate, etc. and then maybe some commands to reproduce?

zymouse commented 11 months ago

@flynneva "video_device": "/dev/video4", "framerate": 30.0, "io_method": "mmap", "frame_id": "camera_front_link", "pixel_format": "uyvy2rgb", "image_width": 1920 , "image_height": 1080, "camera_name": "camera_front", "camera_info_url": "file://${ROS_HOME}/../pix/parameter/sensor_kit/robobus_sensor_kit_description/intrinsic_parameters/,.yaml",

reusing same camera intrinsics only for demo, should really be unique for camera2"

    "brightness": -1,
    "contrast": -1,
    "saturation": -1,
    "sharpness": -1,
    "gain": -1,
    "auto_white_balance": True,
    "white_balance": 4000,
    "autoexposure": True,
    "exposure": 100,
    "autofocus": False,
    "focus": -1,
flynneva commented 10 months ago

@zymouse could you try again with the latest usb_cam ros2 branch? It should help you choose a properly supported pixel format for the camera you have and might fix your issue here

flynneva commented 10 months ago

@zymouse also if you want to visualize the images in rqt I recommend using one of the '2rgb' pixel formats so the published format is compatible with rqt

zymouse commented 10 months ago

@flynneva Thank you very much for your answer: the pixel format I chose is correct, and after starting the usb_cam node, I need to wait for about 5s before the image is converted from a blue screen to a normal image result. This doesn't affect the usage, this issue can be closed now

zymouse commented 2 months ago

@flynneva Hello. Long time no see. updates： commit：501af3d428513b2fd520b7a087ba5774b4d6181d branch: ros2

        "video_device": "/dev/video0",
        "framerate": 30.0,
        "io_method": "mmap",
        "frame_id": "test_camera",
        "pixel_format": "uyvy2rgb",  
        "image_width": 1920,
        "image_height": 1080,
        "camera_name": "test_camera",
        # reusing same camera intrinsics only for demo, should really be unique for camera2"
        "camera_info_url": "file:///test/camera_info_3mm.yaml",
        "brightness": -1,
        "contrast": -1,
        "saturation": -1,
        "sharpness": -1,
        "gain": -1,
        "auto_white_balance": True,
        "white_balance": 4000,
        "autoexposure": True,
        "exposure": 100,
        "autofocus": False,
        "focus": -1,

Startup will be blue screen for a period of time, during the blue screen, cpu usage is 100 After the blue screen ends, the image returns to normal, and the cpu usage returns to normal.

image image image