surfertas / ros2_ipcamera Goto Github PK

I have sudo apt install libopencv-*

The build fails as below

colcon build --symlink-install
Starting >>> ros2_ipcamera
--- stderr: ros2_ipcamera
/usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::VideoCapture()' /usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::isOpened() const'
/usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::~VideoCapture()' /usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::operator>>(cv::Mat&)'
/usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::open(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)' /usr/bin/ld: libipcamera_component.so: undefined reference to cv::VideoCapture::set(int, double)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/composition.dir/build.make:196: composition] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/composition.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< ros2_ipcamera [1.41s, exited with code 2]

I'm currently facing this error after running composition...

[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (713) open OpenCV | GStreamer warning: Error opening bin: empty pipeline not allowed
[ WARN:0] global ../modules/videoio/src/cap_gstreamer.cpp (480) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
[ERROR:0] global ../modules/videoio/src/cap.cpp (116) open VIDEOIO(CV_IMAGES): raised OpenCV exception:

OpenCV(4.2.0) ../modules/videoio/src/cap_images.cpp:293: error: (-215:Assertion failed) !_filename.empty() in function 'open'


[ERROR] [1663643419.692866955] [ipcamera]: Could not open video stream
terminate called after throwing an instance of 'std::runtime_error'
  what():  Could not open video stream

We have an ArkCam Basic Plus Mini IP camera (https://en.ark-vision-systems.com/produkte/arkcambasic+mini/), which we would like to connect to Ros2_ipcamera.

We have a simple Python script using OpenCV which receives images from the camera via "rtsp: //192.168.0.76:8554/h264", showing that the camera works.
We have installed Ros2_ipcamera as described in the readme file and customized camera_info.yaml and ipcamera.yaml as shown below.

ros2 launch ros2_ipcamera ipcamera.launch.py starts without errors and ros2 topic list shows /ipcamera/camera_info and /ipcamera/image_raw.

However, we do not get any image in either rviz or rqt.
Is there anything we have overlooked?

Thanks in advance.

ipcamera.yaml:

ipcamera:
   ros__parameters:
     rtsp_uri: "rtsp: //192.168.0.76:8554/h264"
     image_topic: "image_raw"
     image_width: 1280
     image_height: 720

camera_info.yaml:

image_width: 1280
image_height: 720
"the rest is left unchanged"

I'm trying to compile on Humble and get the above error.

Please also see below link
ros-perception/image_common#250

Any idea what I can try next?

Hi,

im trying to use the package to get the camera stream displayed in Rviz.

Neither working for camera or image added in rviz. Also tried the suggested fixes from other issue.

using ipcamera/image_raw:
Camera Info
No Cameralnfo received on /ipcamera/
camera_info. Topic may not exist.

using ipcamera/image_raw/compressed:
Camera Info
No Cameralnfo received on /ipcamera/image_raw/
camera_info. Topic may not exist.

Echo topic /ipcamera/camera_info shows:
header :
stamp:
sec: [1690295346]
nanosec: 322122365
frame id: camera
height: 480
width: 640
distortion_model: plumb_bob
d: [0.0, 0.0,0.0, 0.0, 0.0]
k: [641.5, 0.0,320.0,0.0.641.5,240.0, 0.0, 0.0, 1.0]
г: [11.0, 0.0, 0.0,0.0,1.0,0.0, 0.0, 0.0,1.0]
P: [641.5,0.0,320.0,0.0,0.0,0.0,641.5,240.0,0.0,0.0, 0.0, 1.0,0.0]
binning_x: 0
binning_y: 0
roi:
x _offset: 0
y_offset: 0
height: 0 width: o
do_rectify: false

Echo on ipcamera/image_raw shows the normal output with image.

Maybe someone has a clue how to solve this problem.

Thanks

ubuntu 18.04
Ros2 eloquent
Jetson Nano 4GB
Hikvision IP camera

Appears that the validateURL() method doesnt recognize the URL passed through the launch file.

This is resulting in the camera info not publishing correctly.