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.****.net/qq_27050183/article/details/51141998

https://blog.****.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++

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

 SOURCES += \
         main.cpp

 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=;
 unsigned int height=;

 int main(int argc, char ** argv)
 {
     if(argc==){
         width=atoi(argv[]);
         height=atoi(argv[]);
     }
     GigECamera cam;
     CameraInfo camInfo[];
     unsigned int numCameras;
     FlyCapture2::Error error;
     error = BusManager::DiscoverGigECameras(camInfo, &numCameras);
     if (error != PGRERROR_OK)
     {
         PrintError(error);
         return false;
     }
     IPAddress ipAddress=camInfo[camIndex-].ipAddress;
     sprintf(ipStr,"%d.%d.%d.%d",ipAddress.octets[],ipAddress.octets[],ipAddress.octets[],ipAddress.octets[]);
     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)/;
     imageSettings.offsetY = (unsigned int)(imageSettingsInfo.maxHeight-height)/;
     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", );
     ros::Rate r = ros::Rate();
     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 ;
 }

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：