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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 13:36]
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help:common:kamera_matlab_chameleon_en [2022/10/25 12:27]
(current)
wagnelib
[Camera Control (Python)]
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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]].
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==== Camera control ====
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==== 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]].
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delete(vid);</code>
delete(vid);</code>
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==== Camera control (Matlab on Linux) ====
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* In linux version of matlab the driver for the camera doe's not work properly, therefore we have added simple function to grab an image (**flygrab**).
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* First add path to the flygrab directory:
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<code matlab>
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addpath('/opt/flygrab');
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</code>
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* Then grab an image:
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<code matlab>
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img = flygrab();
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</code>
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* In order to configuration the camera use the **FlyCap2** utility.
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==== Camera control (ROS) ====
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Driver documentation: [[http://wiki.ros.org/pointgrey_camera_driver|pointgray_camera_driver]]
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Start camera driver nodes:
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<code bash>
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# Assuming that the B3B33ROB ROS Enviroment was properly sourced i.e. :
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source /opt/ros/b3b33rob
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# just camera driver
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$ roslaunch b3b33rob_ros camera.launch
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# or camera with robot
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$ roslaunch b3b33rob_ros start_rv6sdl.launch camera:=true
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$ roslaunch b3b33rob_ros start_rv6s.launch camera:=true
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$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
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$ roslaunch b3b33rob_ros start_fake_rv6sdl.launch camera:=true
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</code>
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Display camera stream:
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<code bash>
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$ rosrun image_view image_view image:=/camera/image_color
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</code>
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* In order to configuration the camera use the **FlyCap2** utility.
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+
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==== Camera Control (Python) ====
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From Python the library used for the communication with the camera is PyCapture2. There is an example of the camera usage in python:
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<code python>
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import PyCapture2
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import cv2
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import numpy as np
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# Initialize bus and camera
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bus = PyCapture2.BusManager()
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camera = PyCapture2.Camera()
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# Select first camera on the bus
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camera.connect(bus.getCameraFromIndex(0))
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# Start capture
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camera.startCapture()
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while True:
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# Retrieve image from camara in PyCapture2.Image format
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image = camera.retrieveBuffer()
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# Convert from MONO8 to RGB8
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image = image.convert(PyCapture2.PIXEL_FORMAT.RGB8)
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# Convert image to Numpy array
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rgb_cv_image = np.array(image.getData(), dtype="uint8").reshape((image.getRows(), image.getCols(), 3));
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# Convert RGB image to BGR image to be shown by OpenCV
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bgr_cv_image = cv2.cvtColor(rgb_cv_image, cv2.COLOR_RGB2BGR)
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# Show image
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cv2.imshow('frame',bgr_cv_image)
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# Wait for key press, stop if the key is q
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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</code>
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More documentation about the PyCapture2 can be found with this command:
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<code>
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evince /opt/salt-install/PyCapture2-2.13.31/docs/PyCapture2doc.pdf
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</code>
==== Parameter Settings ====
==== Parameter Settings ====
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* Picture degradation (spillage) when using different image resolution.
* Picture degradation (spillage) when using different image resolution.
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==== Parameter Settings (flycap2) ====
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* In terminal run:
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<code shell>
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$ flycap2
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<code>
help/common/kamera_matlab_chameleon_en.1392813373.txt.gz
· Last modified: 2018/02/03 10:48 (external edit)