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2022/10/25 12:27 wagnelib [Camera Control (Python)]
2022/10/25 12:24 wagnelib [Camera Control (Python)]
2022/10/25 12:10 wagnelib [Camera control (ROS)]
2021/10/20 13:48 wagnelib [Camera control (ROS)]
2021/10/20 13:48 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:44 wagnelib
2021/10/20 13:43 wagnelib
2021/10/20 13:43 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:41 wagnelib
2021/10/20 13:38 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:38 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 11:54 wagnelib [Camera control (ROS)]
2021/10/20 11:52 wagnelib [Camera control (ROS)]
2021/10/20 11:52 wagnelib [Camera control (ROS)]
2021/10/20 11:51 wagnelib [Camera control (ROS)]
2021/10/20 11:22 wagnelib [Camera control (ROS)]
2021/10/20 11:06 wagnelib
2018/02/03 10:49 external edit
2014/02/19 13:36 zimmerk
2014/02/19 13:34 zimmerk [Camera control]
2014/02/19 13:32 zimmerk [Camera control]
2014/02/19 13:30 zimmerk [USB camera Chameleon]
2014/02/19 11:42 zimmerk [Parameter Settings]
2014/02/19 11:12 zimmerk [Parameter Settings]
2014/02/19 10:36 zimmerk [Parameter Settings]
2014/02/19 10:26 zimmerk [Nastavení parametrů kamery]
2014/02/19 09:58 zimmerk
2014/02/19 09:52 zimmerk
2014/02/18 15:37 zimmerk
2014/02/18 15:27 zimmerk
2014/02/18 15:19 zimmerk created
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2022/10/25 12:27 wagnelib [Camera Control (Python)]
2022/10/25 12:24 wagnelib [Camera Control (Python)]
2022/10/25 12:10 wagnelib [Camera control (ROS)]
2021/10/20 13:48 wagnelib [Camera control (ROS)]
2021/10/20 13:48 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:44 wagnelib
2021/10/20 13:43 wagnelib
2021/10/20 13:43 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:41 wagnelib
2021/10/20 13:38 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 13:38 wagnelib [Camera control (Matlab on Linux)]
2021/10/20 11:54 wagnelib [Camera control (ROS)]
2021/10/20 11:52 wagnelib [Camera control (ROS)]
2021/10/20 11:52 wagnelib [Camera control (ROS)]
2021/10/20 11:51 wagnelib [Camera control (ROS)]
2021/10/20 11:22 wagnelib [Camera control (ROS)]
2021/10/20 11:06 wagnelib
2018/02/03 10:49 external edit
2014/02/19 13:36 zimmerk
2014/02/19 13:34 zimmerk [Camera control]
2014/02/19 13:32 zimmerk [Camera control]
2014/02/19 13:30 zimmerk [USB camera Chameleon]
2014/02/19 11:42 zimmerk [Parameter Settings]
2014/02/19 11:12 zimmerk [Parameter Settings]
2014/02/19 10:36 zimmerk [Parameter Settings]
2014/02/19 10:26 zimmerk [Nastavení parametrů kamery]
2014/02/19 09:58 zimmerk
2014/02/19 09:52 zimmerk
2014/02/18 15:37 zimmerk
2014/02/18 15:27 zimmerk
2014/02/18 15:19 zimmerk created
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help:common:kamera_matlab_chameleon_en [2014/02/19 13:32]
zimmerk
[Camera control]
help:common:kamera_matlab_chameleon_en [2021/10/20 11:51]
wagnelib
[Camera control (ROS)]
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Line 2:
Camera Chameleon is digital USB 2.0 camera //[[http://www.ptgrey.com/products/chameleon/Chameleon_datasheet.pdf|Chameleon]]// manufactued by [[http://www.ptgrey.com|PointGrey]].
Camera Chameleon is digital USB 2.0 camera //[[http://www.ptgrey.com/products/chameleon/Chameleon_datasheet.pdf|Chameleon]]// manufactued by [[http://www.ptgrey.com|PointGrey]].
-
==== Camera control ====
+
==== Camera control
(Matlab on Windows)
====
The camera can be operated in MATLAB via [[http://www.mathworks.com/access/helpdesk/help/toolbox/imaq/f9-75080.html|Image Acquisition Toolboxu]].
The camera can be operated in MATLAB via [[http://www.mathworks.com/access/helpdesk/help/toolbox/imaq/f9-75080.html|Image Acquisition Toolboxu]].
Line 10:
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vid.FrameGrabInterval = 1;
vid.FrameGrabInterval = 1;
start(vid);</code>
start(vid);</code>
-
-
Reading a
frame from the buffer
is as follows
<code>im = getdata(vid,1);</code>
+
-
The following command reads one
frame from the
current
buffer <code>im = getdata(vid,1);</code>
- The camera provides video in RAW format, therefore [[http://en.wikipedia.org/wiki/Bayer_filter|debayering]] is needed. This can be done for example by using the following commands. We could not figure out how to change the white balance for blue channel in the MATLAB environment, therefore blue channel must be multiplied by an appropriate value <code>im_debay(:,:,1) = im(2:2:end,1:2:end);
- The camera provides video in RAW format, therefore [[http://en.wikipedia.org/wiki/Bayer_filter|debayering]] is needed. This can be done for example by using the following commands. We could not figure out how to change the white balance for blue channel in the MATLAB environment, therefore blue channel must be multiplied by an appropriate value <code>im_debay(:,:,1) = im(2:2:end,1:2:end);
im_debay(:,:,2) = im(1:2:end,1:2:end)/2 + im(2:2:end,2:2:end)/2;
im_debay(:,:,2) = im(1:2:end,1:2:end)/2 + im(2:2:end,2:2:end)/2;
im_debay(:,:,3) = 6.5 * im(1:2:end,2:2:end);</code>
im_debay(:,:,3) = 6.5 * im(1:2:end,2:2:end);</code>
-
-
Evetually
, you can clear the memory by the following commands <code>stop(vid);
+
-
Eventually
, you can clear the memory by the following commands <code>stop(vid);
delete(vid);</code>
delete(vid);</code>
+
+
==== Camera control (Matlab on Linux) ====
+
+
+
==== Camera control (ROS) ====
+
+
Start camera driver nodes:
+
<code sh>
+
# Assuming that the B3B33ROB ROS Enviroment was properly sourced i.e. :
+
source /opt/ros/b3b33rob
+
+
# just camera driver
+
$ roslaunch b3b33rob_ros camera.launch
+
+
# or camera with robot
+
$ roslaunch b3b33rob_ros start_rv6sdl.launch camera:=true
+
$ roslaunch b3b33rob_ros start_rv6s.launch camera:=true
+
$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
+
$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
+
</code>
==== Parameter Settings ====
==== Parameter Settings ====
-
As described above, it is possible to set some camera parameters in the MATLAB environment. These parameters influence the image provided by the camera, and they are therefore important for the successful use of the camera. Description of paremeters in the camera documentation is very limited. Therefore, we conducted a limited survey and testing in order to determine the possibility set the capturing parameters.
+
As described above, it is possible to set some camera parameters in the MATLAB environment. These parameters influence the image provided by the camera, and they are therefore important for the successful use of the camera. Description of paremeters in the camera documentation is very limited. Therefore, we conducted a limited survey and testing in order to determine the possibility
to
set the capturing parameters.
Unfortunately MATLAB interface allows to adjust only a limited number of parameters. The following parameters can be set:
Unfortunately MATLAB interface allows to adjust only a limited number of parameters. The following parameters can be set:
help/common/kamera_matlab_chameleon_en.txt
· Last modified: 2022/10/25 12:27 by
wagnelib