2、使用usb_cam節點發布影象與上篇中的yolo v3 tiny檢測
阿新 • • 發佈:2022-04-18
①在darknet_ros/darknet_ros/config/ros.yaml檔案中修改訂閱的影象訊息
修改為/usb_cam/image_raw
roslaunch darknet_ros yolo_v3.launch
參考:冰達機器人/darknet_ros (gitee.com)
②下載usb_cam原始碼
git clone https://github.com/ros-drivers/usb_cam
修改launch檔案
<launch> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="/dev/video0" /> <param name="image_width" value="640" /> <param name="image_height" value="480" /> <param name="pixel_format" value="yuyv" /> <param name="camera_frame_id" value="usb_cam" /> <param name="io_method" value="mmap"/> </node>
<!-- 註釋掉此節點,不顯示圖片 <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> <remap from="image" to="/usb_cam/image_raw"/> <param name="autosize" value="true" /> </node>
--> </launch>
roslaunch usb_cam usb_cam-test.launch
③、使用ros usb_cam節點標註攝像頭見連結:使用usb_cam軟體包除錯usb攝像頭_通哈膨脹哈哈哈的部落格-CSDN部落格_usb_cam