ROS使用FLIR品牌的相机

本文介绍如何将FLIR品牌的相机应用于ROS系统，将相机实时的数据以rostopic实时广播：

系统平台：Ubuntu16.04 LTS   ROS Kinetic

依赖：OpenCV（本例中所用版本为2.9）， cv_bridge

硬件：FLIR Grasshopper GS3-PGE-23S6C-C

 

1.首先安装相机在Ubuntu16.04下的驱动：

本例直接安装于买设备时自带的安装盘，于官网也可以下载到相关驱动：

网址：www.flir.com/mv-techsupport/downloads

找到相同设备的下载列表，选择对应的系统版本即可

安装完成后，控制台输入flycap有软件弹出代表安装成功

 

 点击Auto Force IP，可以为设备自动分配IP，可以通过flycap看到设备

 点击确定，可以进入照相模式

2.ROS代码编写：

参考地址：https://blog.csdn.net/qq_27050183/article/details/51141998

https://blog.csdn.net/lixujie666/article/details/83303836

项目中用QT编写代码，用QMake的pro文件配置依赖目录：

 

TEMPLATE = app
CONFIG += console c++11

QMAKE_CXXFLAGS += -std=c++11
CONFIG -= app_bundle
CONFIG -= qt

SOURCES += \
        main.cpp

12 
INCLUDEPATH += /usr/include/flycapture

INCLUDEPATH += /usr/local/include/opencv2

LIBS += /usr/local/lib/libopencv_*.so \

LIBS += /usr/lib/libflycapture*.so

LIBS += /usr/lib/libcv_bridge.so

#---------------------ROS DEPENDS---------------------#
INCLUDEPATH += /opt/ros/kinetic/include

DEPENDPATH += /opt/ros/kinetic/include

LIBS += -L/opt/ros/kinetic/lib \
        -L/usr/local/lib \
        -lroscpp \
        -lrospack \
        -lpthread \
        -lrosconsole \
        -lrosconsole_log4cxx \
        -lrosconsole_backend_interface \
        -lxmlrpcpp \
        -lroscpp_serialization \
        -lrostime \
        -lcpp_common \
        -lroslib \
        -ltf \

LIBS += -L /usr/lib \
        -l Ice

LIBS += /opt/ros/kinetic/lib/libroslib.so \
        /usr/local/lib/liblog4cplus.so

#---------------------ROS DEPENDS---------------------#

 

编写C++通信代码：

 

#include <iostream>
#include <stdlib.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <ros/ros.h>
using namespace std;

#include "FLIR.h"

using namespace FLIR;
unsigned int width=640;
unsigned int height=480;

int main(int argc, char ** argv)
{
    if(argc==3){
        width=atoi(argv[1]);
        height=atoi(argv[2]);
    }
    GigECamera cam;
    CameraInfo camInfo[10];
    unsigned int numCameras;
    FlyCapture2::Error error;
    error = BusManager::DiscoverGigECameras(camInfo, &numCameras);
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }
    IPAddress ipAddress=camInfo[camIndex-1].ipAddress;
    sprintf(ipStr,"%d.%d.%d.%d",ipAddress.octets[0],ipAddress.octets[1],ipAddress.octets[2],ipAddress.octets[3]);
    BusManager busMgr;
    error=busMgr.GetCameraFromIPAddress(ipAddress,&guid);
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }
    error = cam.Connect(&guid);
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }

    GigEImageSettingsInfo imageSettingsInfo;
    error = cam.GetGigEImageSettingsInfo(&imageSettingsInfo);
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }
    GigEImageSettings imageSettings;
    imageSettings.offsetX = (unsigned int)(imageSettingsInfo.maxWidth-width)/2;
    imageSettings.offsetY = (unsigned int)(imageSettingsInfo.maxHeight-height)/2;
    imageSettings.height = height;
    imageSettings.width = width;
    imageSettings.pixelFormat = PIXEL_FORMAT_RGB;
    error = cam.SetGigEImageSettings(&imageSettings);
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }
    error = cam.StartCapture();
    if (error != PGRERROR_OK)
    {
        PrintError(error);
        return false;
    }
    cv::Mat img;
    cam.RetrieveBGR(img);
    ros::init(argc, argv, "camera_node");
    ros::NodeHandle nh;
    ros::Publisher pub_camera = nh.advertise<sensor_msgs::Image>("flir_camera", 1);
    ros::Rate r = ros::Rate(1);
    cv_bridge::CvImage cvi;
    cvi.header.frame_id = "image";
    cvi.encoding = "bgr8";
    while (ros::ok()){
        cam.RetrieveBGR(img);
        sensor_msgs::Image image;
        cvi.image = img;
        cvi.toImageMsg(image);
        pub_camera.publish(image);
        r.sleep();
    }
    return 0;
}

 

编译，运行

 

 

3.完成效果：

发布消息类型为sensor_msgs::Image的话题，话题名为"flir_camera"，可以用rqt_image_view查看效果：