ROS相机标定GStreamer误差

Question

我已经安装了一个带有ROS的虚拟机，我想在我的USB网络摄像头上运行一个摄像机校准。我遵循了以下指南，对于发射器，我放置了以下代码：

我试着启动它并得到以下响应：

... logging to /home/dragonros/.ros/log/e62adeac-5d96-11eb-b879-09066182755f/roslaunch-ubuntu-42560.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

invalid ROS_HOSTNAME (an empty string)
invalid ROS_HOSTNAME (an empty string)
started roslaunch server http://ubuntu:35479/

SUMMARY
========

PARAMETERS
 * /left/gscam_driver_v4l/camera_info_url: package://gscam/e...
 * /left/gscam_driver_v4l/camera_name: default
 * /left/gscam_driver_v4l/frame_id: /v4l_frame_l
 * /left/gscam_driver_v4l/gscam_config: v4l2src device=/d...
 * /left/gscam_driver_v4l/sync_sink: True
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /left/
    gscam_driver_v4l (gscam/gscam)

ROS_MASTER_URI=http://localhost:11311

process[left/gscam_driver_v4l-1]: started with pid [42574]
[ WARN] [1611445425.340701580]: invalid ROS_HOSTNAME (an empty string)
[ INFO] [1611445425.361034554]: Using gstreamer config from rosparam: "v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
[ INFO] [1611445425.366515919]: camera calibration URL: package://gscam/examples/uncalibrated_parameters.ini
[ INFO] [1611445425.366725052]: Loaded camera calibration from package://gscam/examples/uncalibrated_parameters.ini

(gscam:42574): GStreamer-WARNING **: 15:43:45.455: 0.10-style raw video caps are being created. Should be video/x-raw,format=(string).. now.
[ INFO] [1611445425.455679084]: Time offset: 1611418553.717
[ INFO] [1611445425.555216304]: Publishing stream...
[ INFO] [1611445425.555412447]: Started stream.
[ERROR] [1611445425.555446013]: Could not get gstreamer sample.
[ INFO] [1611445425.555455586]: Stopping gstreamer pipeline...
[ INFO] [1611445425.557306732]: GStreamer stream stopped!
[ INFO] [1611445425.557374812]: Cleaning up stream and exiting...
[left/gscam_driver_v4l-1] process has finished cleanly
log file: /home/dragonros/.ros/log/e62adeac-5d96-11eb-b879-09066182755f/left-gscam_driver_v4l-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

它说它不能得到gstreamer样本。另外，由于某种原因，当我把相机插到电脑上时，它会同时产生/dev/video0和/dev/video1。这也是我运行rosrun gscam gscam时得到的结果。我该怎么办？

Answer 1

对于“无效的ROS_HOSTNAME”是与环境变量连接的。请看这一页：

https://wiki.ros.org/ROS/EnvironmentVariables

这里的假设是你的凸轮和ROS兼容。

你在校准前试过这个吗：

roscd gscam
cd bin
export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
rosrun gscam gscam

您是否尝试过camera_calibration包：

http://wiki.ros.org/camera_calibration

我不确定gscam是否与注音兼容。

https://index.ros.org/r/gscam/#noetic

那时，人们通过确保gscam依赖关系满足，并添加

"

看过了：

https://github.com/ros-drivers/gscam/issues/25
https://github.com/ros-drivers/gscam/tree/master/examples

此外，考虑结束：https://stackoverflow.com/questions/65865736/ros-camera-calibration

所以我们不会回答同一个问题两次。

我有靛蓝，我知道兼容性问题是多么痛苦。

祝好运!