watonomous.github.io

[ Software Division : Viewing_camera_image ]

Created by [ Rowan Dempster] on Dec 28, 2019

To view images:

Run the following in terminal: roslaunch pointgrey_camera_driver stereo.launch left_camera_serial:=17453317 right_camera_serial:=17453304 (or just run cameras_start, which is an alias of the command. To see all alias, run vim ~/.watoalias)
Open a new terminal and run rostopic echo /camera/right/image_raw to see if image data is coming in
Run rosrun image_view image_view image:=/camera/right/image_raw to view raw image from the right camera
Run rosrun image_view image_view image:=/camera/left/image_raw to view raw image from the right camera
Note that image_view and flycap cannot run simultaneously

To take a video and then extra frames from it:

Run cameras_startto start camera driver
cd to the directory where you want the rosbag to be saved
Run rosbag_record_5, this will record videos from the left and right cameras, as well as lidar point cloud.
Type rosbag play path/to/myrosbagfile.bag but don't run
In a new terminal, cd to the directory where you want to save the images
Run step 4
Run cameras_extract_leftor cameras_extract_right, depending on which camera you want to extract images from

In case you need to change IP for camera:

Click on WIFI Icon and then click "edit connections"
Select "Cameras"
Under Ethernet, change device to "enp4s0f0 (AC:1F:6B:05:66:33)"
Under IPv4 Settings, change Address to 192.168.3.0
If you can't connect to "Cameras", add this address "192.168.3.0" to a network you can connect to (maybe "LIDAR-Network")
For more info on camera network, see this: https://phabricator.watonomous.ca/w/electrical/sensor-fusion/camera_setup/camera_networking/

Document generated by Confluence on Dec 10, 2021 04:01