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Add netusb_camera_driver package #85

Closed furushchev closed 8 years ago

furushchev commented 8 years ago

This PR adds driver package for NETUSB camera.

k-okada commented 8 years ago

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、Furushchevnotifications@github.com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:

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

  • add netusb_camera_driver package
  • add netusb_camera_driver to meta package run_depend

File Changes

Patch Links:

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◉ Kei Okada

furushchev commented 8 years ago

@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 commented 8 years ago

@k-okada The NETUSB camera has following features:

  1. boardtype (< 10g)
  2. UXGA(1600 x 1200)
  3. Global Shutter
  4. 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 commented 8 years ago

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 notifications@github.com wrote:

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

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

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tongtybj commented 8 years ago

@k-okada

Both camera are able to attach fisheye lens.

k-okada commented 8 years ago

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 notifications@github.com 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:

  1. board-type => light

    1. global shutter => guarantee image quality when uav vibrates strongly.
    2. fisheye => reason above

    4. enough resolution => testing 1600 x 1200

    Canditates:

  2. Net Camera(netusb) BC4203CU, http://www.mvision.co.jp/index_net.html
  3. 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 commented 8 years ago

82

tongtybj commented 8 years ago

@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 commented 8 years ago

failed because https://github.com/start-jsk/jsk_mbzirc/pull/88 is not merged

tongtybj commented 8 years ago

@furushchev

古田くん、RGBの件は何か進展はあった？

furushchev commented 8 years ago

@tongtybj waiting for mail reply...

tongtybj commented 8 years ago

@furushchev

oh...

furushchev commented 8 years ago

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

tongtybj commented 8 years ago

@furushchev wonderful!

furushchev commented 8 years ago

Now data from driver in RGB mode is broken

screenshot from 2016-07-21 18 39 58

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

image

furushchev commented 8 years ago

Now I'm discussing to manufacturer by email.

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

k-okada commented 8 years ago

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

tongtybj commented 8 years ago

@k-okada

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

k-okada commented 8 years ago

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 notifications@github.com 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 commented 8 years ago

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

k-okada commented 8 years ago

http://wiki.ros.org/pointgrey_camera_driver

◉ Kei Okada

On Tue, Jul 26, 2016 at 2:35 PM, 趙 漠居 notifications@github.com 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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