{"id":2045,"date":"2013-06-11T08:49:57","date_gmt":"2013-06-10T23:49:57","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=2045"},"modified":"2013-06-11T08:49:57","modified_gmt":"2013-06-10T23:49:57","slug":"pc%e3%81%ae%e3%82%ab%e3%83%a1%e3%83%a9%e3%81%a7%e9%a1%94%e6%a4%9c%e5%87%ba%e3%81%99%e3%82%8b%e3%81%be%e3%81%a7","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/2045","title":{"rendered":"PC\u306e\u30ab\u30e1\u30e9\u3067\u9854\u691c\u51fa\u3059\u308b\u307e\u3067"},"content":{"rendered":"<p>\u6bce\u5e74\u306e\u6388\u696d\u306e\u30cd\u30bf\u3068\u3057\u3066OpenCV\u3067\u9854\u691c\u51fa(face detection)\u3092\u3055\u305b\u3066\u3044\u308b\u304c\u3001\u305b\u3063\u304b\u304f\u306a\u306e\u3067ROS\u7d4c\u7531\u3067\u9854\u691c\u51fa\u3055\u305b\u308b\u3053\u3068\u306b\u3057\u305f\u3002<\/p>\n<h2>\u30ab\u30e1\u30e9\u306e\u8a2d\u5b9a<\/h2>\n<p>\u307e\u305a\u306f\u3001\u30ce\u30fc\u30c8PC\u306b\u3064\u3044\u3066\u3044\u308b\u30ab\u30e1\u30e9\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u3002\u53c2\u8003\u306b\u3057\u305f\u306e\u306f\u3053\u3061\u3089\u306e\u30b5\u30a4\u30c8\u3002<br \/>\n<a href=\"http:\/\/asukiaaa.blogspot.jp\/2013\/05\/blog-post_14.html\">\u30ed\u30dc\u30c3\u30c8\u4f5c\u6210\u65e5\u8a18\u300c\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u8868\u793a \u300d<\/a><br \/>\n\u30ab\u30e1\u30e9\u306b\u3088\u3063\u3066\u4f7f\u3048\u308b\u30ab\u30e1\u30e9\u30c9\u30e9\u30a4\u30d0\u306f\u5909\u308f\u308b\u304c\u3001\u3046\u3061\u306e\u74b0\u5883\u3067\u306fros-groovy-camera-umd\u3092\u5c0e\u5165\u3059\u308b\u3060\u3051\u3067\u3088\u304b\u3063\u305f\u3002\u3053\u306e\u5c0e\u5165\u306b\u3088\u308a\u3001<a href=\"http:\/\/www.ros.org\/wiki\/uvc_camera\">uvc_camera<\/a>\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u5229\u7528\u53ef\u80fd\u3068\u306a\u308b\u3002<br \/>\n<code>sudo apt-get install ros-groovy-camera-umd<br \/>\n<\/code><br \/>\n\u3061\u3083\u3093\u3068\u52d5\u4f5c\u3059\u308b\u304b\u3069\u3046\u304b\u3001\u4ee5\u4e0b\u3092\u8d77\u52d5\u3057\u3066\u78ba\u8a8d\u3059\u308b\u3002<br \/>\n<code>rosrun uvc_camera camera_node<br \/>\nrosrun image_view image_view image:=\/image_raw<\/code><br \/>\n\u524d\u8005\u3067\u30ab\u30e1\u30e9\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u3001\u5f8c\u8005\u3067\u30ab\u30e1\u30e9\u753b\u50cf\u3092\u8868\u793a\u3057\u3066\u3044\u308b\u3002\u306a\u304a\u3001\u30ab\u30e1\u30e9\u304b\u3089\u306e\u753b\u50cf\u306f\/image_raw\u30c8\u30d4\u30c3\u30af\u3092\u901a\u3058\u3066\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002<\/p>\n<h2>OpenCV\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u5c0e\u5165<\/h2>\n<p>\u9854\u691c\u51fa\u306b\u5fc5\u8981\u306aOpenCV\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3068\u3057\u3066\u3001 ros-groovy-mjpeg-server \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u304f\u3002<br \/>\n<code>sudo apt-get install ros-groovy-mjpeg-server<\/code><\/p>\n<h2>\u9854\u691c\u51fa<\/h2>\n<p>\u9854\u691c\u51fa\u306b\u306f\u3001OpenCV\u306eHaar\u5206\u985e\u5668\u3092\u7528\u3044\u305f<a href=\"http:\/\/www.ros.org\/wiki\/pi_face_tracker\">pi_face_tracker<\/a>\u3068\u3044\u3046\u30ce\u30fc\u30c9\u3092\u4f7f\u3046\u3053\u3068\u306b\u3059\u308b\u3002\u4ed6\u306b\u3082face_detector\u304c\u3042\u308b\u304c\u30b9\u30c6\u30ec\u30aa\u753b\u50cf\u3092\u5bfe\u8c61\u3068\u3057\u3066\u3044\u308b\u3088\u3046\u306a\u306e\u3067pi_face_tracker\u306b\u3057\u305f\u3002\u305f\u3060\u3057\u3001ubuntu\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u306f\u306a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u30d3\u30eb\u30c9\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002<br \/>\n\u8aac\u660e\u306e\u90fd\u5408\u4e0a\u3001~\/workspace\u3067ROS\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304c\u4f5c\u3089\u308c\u3066\u3044\u308b\u3082\u306e\u3068\u3059\u308b\u3002<br \/>\n\u5148\u307b\u3069\u306e\u30da\u30fc\u30b8\u306e\u6307\u793a\u306b\u5f93\u3044\u3001SVN\u304b\u3089\u6700\u65b0\u306epi_vision\u306e\u30bd\u30fc\u30b9\u3092\u53d6\u308a\u8fbc\u3093\u3067\u30d3\u30eb\u30c9\u3059\u308b\u3002<br \/>\n<code>cd ~\/workspace\/<br \/>\nsvn co http:\/\/pi-robot-ros-pkg.googlecode.com\/svn\/trunk\/pi_vision<br \/>\nrosws set ~\/workspace\/pi_vision\/<br \/>\n. ~\/setup.sh<br \/>\nrosdep install pi_vision<\/code><br \/>\nrosdep install\u3067\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u8868\u793a\u3055\u308c\u3066\u3057\u307e\u3046\u3002<br \/>\n<code>ERROR: the following packages\/stacks could not have their rosdep keys resolved<br \/>\nto system dependencies:<br \/>\npi_face_tracker_gui: Missing resource rosbridge<br \/>\nROS path [0]=\/opt\/ros\/groovy\/share\/ros<br \/>\nROS path [1]=\/home\/itoh\/workspace\/pi_vision<br \/>\nROS path [2]=\/opt\/ros\/groovy\/share<br \/>\nROS path [3]=\/opt\/ros\/groovy\/stacks<br \/>\nros2opencv: Missing resource uvc_cam<br \/>\nROS path [0]=\/opt\/ros\/groovy\/share\/ros<br \/>\nROS path [1]=\/home\/itoh\/workspace\/pi_vision<br \/>\nROS path [2]=\/opt\/ros\/groovy\/share<br \/>\nROS path [3]=\/opt\/ros\/groovy\/stacks<br \/>\npi_face_tracker: Missing resource uvc_cam<br \/>\nROS path [0]=\/opt\/ros\/groovy\/share\/ros<br \/>\nROS path [1]=\/home\/itoh\/workspace\/pi_vision<br \/>\nROS path [2]=\/opt\/ros\/groovy\/share<br \/>\nROS path [3]=\/opt\/ros\/groovy\/stacks<\/code><br \/>\npi_vision\u306e\u4f7f\u3063\u3066\u3044\u308b\u30ce\u30fc\u30c9\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3068\u3044\u3046\u30a8\u30e9\u30fc\u306a\u306e\u3067\u3001rosbridge\u3092rosbridge_server\u3001uvc_cam\u3092uvc_camera\u306e\u3088\u3046\u306b\u4fee\u6b63\u3057\u3066\u3044\u304f\u3002<br \/>\nrosbridge\u306b\u95a2\u3059\u308b\u4fee\u6b63\u306f\u3001pi_vision\/pi_face_tracker_gui\/manifest.xml \u306b\u5bfe\u3057\u3066\u884c\u3046\u3002\u4e0b\u304b\u3089\uff14\u884c\u76ee\u3042\u305f\u308a\u306erosbridge\u3092rosbridge_server\u306b\u5909\u66f4\u3059\u308b\u3002\u5909\u66f4\u3057\u305f\u5f8c\u306e\u5185\u5bb9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<br \/>\n<code>  &lt;depend package=\"rosbridge_server\"\/&gt;<\/code><br \/>\nuvc_cam\u306b\u95a2\u3059\u308b\u4fee\u6b63\u306f\u3001pi_vision\/ros2opencv\/manifest.xml\u3068pi_vision\/pi_face_tracker\/manifest.xml\u306e2\u30ab\u6240\u306b\u5bfe\u3057\u3066\u884c\u3046\u3002\u3069\u3061\u3089\u3082\u3001uvc_cam\u3092uvc_camera\u306b\u5909\u66f4\u3059\u308b\u3002<br \/>\n<code>  &lt;depend package=\"uvc_camera\"\/&gt;<\/code><br \/>\n\u7d9a\u3044\u3066rosmake\u3059\u308b\u3002<br \/>\n<code>rosmake pi_vision<\/code><br \/>\n\u3053\u306e\u72b6\u614b\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u308b\u306e\u3060\u304c\u3001uvc_camera\u306e\u753b\u50cf\u30c8\u30d4\u30c3\u30af\u540d\u304c\/image_raw\u3067\u3042\u308b\u306e\u306b\u5bfe\u3057\u3066\u3001pi_face_tracker\u3067\u306f\/camera\/image_raw\u3092\u4f7f\u3063\u3066\u3044\u308b\u3002\u305d\u306e\u305f\u3081\u8d77\u52d5\u3057\u3066\u3082\u753b\u9762\u306b\u306f\u4f55\u3082\u8868\u793a\u3055\u308c\u306a\u3044\u3002pi_vision\/pi_face_tracker\/launch\/face_tracker_uvc_cam.launch \u306e5\u884c\u76ee\u306b\u3042\u308b\/camera\/image_raw\u3092\/image_raw\u306b\u5909\u66f4\u3059\u308b\u3002\u5909\u66f4\u3057\u305f\u5f8c\u306e\u5185\u5bb9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<br \/>\n<code>    &lt;remap from=\"input_rgb_image\" to=\"\/image_raw\" \/&gt;<\/code><br \/>\n\u4ee5\u4e0a\u3067\u30d3\u30eb\u30c9\u306f\u5b8c\u4e86\u3002<\/p>\n<h2>\u4f7f\u3044\u65b9<\/h2>\n<p><code>roslaunch ros2opencv uvc_cam.launch<br \/>\nroslaunch pi_face_tracker face_tracker_uvc_cam.launch<\/code><br \/>\nuvc_camera\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u3066\u304a\u304d\u3001face_tracker\u3092\u8d77\u52d5\u3059\u308b\u3002<br \/>\n\u81ea\u52d5\u7684\u306bimage_view\u304c\u7acb\u3061\u4e0a\u304c\u308a\u691c\u51fa\u5f8c\u306e\u753b\u50cf\u304c\u8868\u793a\u3055\u308c\u308b\u3002<br \/>\n\u753b\u9762\u4e0a\u3067\u306e\u30b7\u30e7\u30fc\u30c8\u30ab\u30c3\u30c8\u30ad\u30fc\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<ul>\n<li>q &#8211; \u7d42\u4e86<\/li>\n<li>c &#8211; \u73fe\u5728\u306e\u7279\u5fb4\u3092\u524a\u9664\u3059\u308b<\/li>\n<li>t &#8211; \u30c6\u30ad\u30b9\u30c8\u8868\u793a\u306e\u30aa\u30f3\uff0f\u30aa\u30d5<\/li>\n<li>f &#8211; \u7279\u5fb4\u8868\u793a\u306e\u30aa\u30f3\uff0f\u30aa\u30d5<\/li>\n<li>n &#8211; \u30ca\u30a4\u30c8\u30e2\u30fc\u30c9\uff08\u30ab\u30e1\u30e9\u753b\u50cf\u8868\u793a\u3057\u306a\u3044\uff09\u306e\u30aa\u30f3\uff0f\u30aa\u30d5<\/li>\n<li>a &#8211; \u81ea\u52d5\u7684\u306a\u9854\u691c\u51fa\u306e\u30aa\u30f3\uff0f\u30aa\u30d5<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u6bce\u5e74\u306e\u6388\u696d\u306e\u30cd\u30bf\u3068\u3057\u3066OpenCV\u3067\u9854\u691c\u51fa(face detection)\u3092\u3055\u305b\u3066\u3044\u308b\u304c\u3001\u305b\u3063\u304b\u304f\u306a\u306e\u3067ROS\u7d4c\u7531\u3067\u9854\u691c\u51fa\u3055\u305b\u308b\u3053\u3068\u306b\u3057\u305f\u3002 \u30ab\u30e1\u30e9\u306e\u8a2d\u5b9a \u307e\u305a\u306f\u3001\u30ce\u30fc\u30c8PC\u306b\u3064\u3044\u3066\u3044\u308b\u30ab\u30e1\u30e9\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u3002\u53c2\u8003\u306b\u3057&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11],"tags":[],"class_list":["post-2045","post","type-post","status-publish","format-standard","hentry","category-ros"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2045","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/comments?post=2045"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2045\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=2045"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=2045"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=2045"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}