tao270 / boteye_ros

boteye_ros package

boteye_ros

boteye_ros package
基于boteye驱动程序接口写的ros节点,可以将相机返回的图像（未矫正）和IMU数据以topic的形式发布出来。

• /boteye/left/image_color_raw
  
• /boteye/right/image_color_raw
  
• /boteye/imu/data_raw
  

安装依赖库

• OpenCV (>3.0)
  
• Glog: sudo apt-get install libgflags-dev
  
• GFlags: sudo apt-get isntall libgoogle-glog-dev
  

如果ROS使用的是indigo版本，建议手动安装oepncv3.0版本以上的cv_bridge（地址）

    git clone https://github.com/ros-perception/vision_opencv.git
    cd vision_opencv & cd cv_bridge
    mkdir build & cd build
    cmake ..
    make 
    sudo make install

编译

cd boteye_ros
mkdir build
cd build
cmake ..
make 
source devel/setup.bash
rosrun boteye_ros ros_node

数据timestamp

已经将相机的时间转化为ros::time形式。

增益调节

图像窗口下，按键+和]为增大增益，图像变亮，按键-和[为减少增益。

Timestamp test

Image(fps 25)

IMU(200Hz)

boteye_ros's Issues

hardTimeToSoftTime

https://github.com/Markbess/boteye_ros/blob/master/src/ros_node.cpp#L90

First of all, awesome work for adding ROS support in boteye_driver.
We notice an issue that the hardware clock actually drifts from the real world clock, which means that hardTimeToSoftTime will eventually drift away. An simple hack will be periodically update the soft_time_begin and hard_time_begin.

提取摄像头的时间戳

你好，如果不添加camera_info的topic到源程序，使用您提供的ros::time怎么得到时间戳呢？期待您的回复，谢谢！

Topic of imu and cam

我尝试使用了/boteye/left/image_color_raw和/boteye/imu/data_raw作为slam程序的输入，但是显示的路径会跑飞，这是什么原因引起的呢？

can not compile

当编译的时候遇到问题，显示：
错误：‘_mm_shuffle_epi8’在此作用域中尚未声明

libopencv_core.so.3.4 No such file or directory

Hello, I run into an issue as following:

vio@vio:/boteye_ros/build$ rosrun boteye_ros ros_node
/home/vio/boteye_ros/src/ros_node: error while loading shared libraries: libopencv_core.so.3.4: cannot open shared object file: No such file or directory
vio@vio:/boteye_ros/build$

Then I have checked the CMakeLists.txt, and don't find the information of opencv3.4.
What's wrong with this? Thank you advance!
你好，报上面的错误是怎么回事呢？期待您的回复，谢谢！