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This ROS package subscribes to FLIR A615 thermal camera (USB connection) and publishes it after pseudo color enhancement .

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GCaptainNemo/FLIR-Thermal-Camera-ROS

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FLIR-thermal-image-ROS

一、介绍

本仓库ROS包对FLIR A615相机(USB3 vision)进行订阅(topic: /usb_cam/image_raw),进行伪彩色增强后发布(topic: /thermal/pseudo_color),工作空间目录如下所示。

ws_FLIR
│   README.md
│   
└───src
     │
     └───package: ir_convert
                              node: ir_convert_node (subscribe FLIR camera raw image and convert)
                                │                        
                                └─   launch file: ir_convert.launch(launch ir_convert_node)

调试环境与依赖:

  • Ubuntu 18.04 ROS melodic
  • usb_cam
  • OpenCV 3.2.0
  • Hardware: FLIR A615 (USB connection)

二、使用方法

  1. 安装ROS
  2. 安装usb_cam[1],把resources/usb_flir.launch文件放在usb_cam的launch文件夹下
  3. 安装本仓库
mkdir -p ~/xxx/src
cd ~/xxx/src
catkin_init_workspace
git clone https://github.com/GCaptainNemo/fusion-lidar-camera-ROS.git
mv ./ FLIR-thermal-camera-ROS/src/ir_convert  ./
mv ./ FLIR-thermal-camera-ROS/src/launch_file  ./
cd ..
catkin_make

  1. 运行usb-cam包
roslaunch usb_cam usb_flir.launch

或者下载ROS-bag原始红外图像测试数据地址

链接: https://pan.baidu.com/s/1MUsm2CswUyRHH7sWTro-pg 提取码: h77t

  1. 运行ir_convert_node数据转换节点,并在rviz中显示 roslaunch ir_convert ir_convert.launch

三、效果

原始红外图像

为彩色增强图像

ir_convert_/src/img2temp.py脚本[2-4]可以获得原始16位红外图片和对应温度(需要有对应exif信息)

原始图片和温度图片

四、参考资料

[1] usb-cam安装

[2] raw2temp

[3] 获得FLIR exif元信息

[4] FLIR Image Extractor- Github

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This ROS package subscribes to FLIR A615 thermal camera (USB connection) and publishes it after pseudo color enhancement .

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