ROS OpenCV camera driver

It is very easy to capture video device if we use cv::VideoCapture of OpenCV.

If you are searching ROS2 driver, check here

cv_camera_node

This node uses camera_info_manager for dealing with camera_info. If no calibration data is set, it has dummy values except for width and height.

Publish

• ~image_raw (sensor_msgs/Image)
• ~camera_info (sensor_msgs/CameraInfo)

Service

• ~set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

• ~rate (double, default: 30.0) – publish rate [Hz].
• ~device_id (int, default: 0) – capture device id.
• ~device_path (string, default: "") – path to camera device file, e. g. /dev/video0.
• ~frame_id (string, default: "camera") – frame_id of message header.
• ~image_width (int) – try to set capture image width.
• ~image_height (int) – try to set capture image height.
• ~camera_info_url (string) – url of camera info yaml.
• ~file (string, default: "") – if not "" then use movie file instead of device.
• ~capture_delay (double, default: 0) – estimated duration of capturing and receiving the image.
• ~rescale_camera_info (bool, default: false) – rescale camera calibration info automatically.
• ~camera_name (bool, default: same as frame_id) – camera name for camera_info_manager.

Supports CV_CAP_PROP_*, by below params.

• ~cv_cap_prop_pos_msec (double)
• ~cv_cap_prop_pos_avi_ratio (double)
• ~cv_cap_prop_frame_width (double)
• ~cv_cap_prop_frame_height (double)
• ~cv_cap_prop_fps (double)
• ~cv_cap_prop_fourcc (double)
• ~cv_cap_prop_frame_count (double)
• ~cv_cap_prop_format (double)
• ~cv_cap_prop_mode (double)
• ~cv_cap_prop_brightness (double)
• ~cv_cap_prop_contrast (double)
• ~cv_cap_prop_saturation (double)
• ~cv_cap_prop_hue (double)
• ~cv_cap_prop_gain (double)
• ~cv_cap_prop_exposure (double)
• ~cv_cap_prop_convert_rgb (double)
• ~cv_cap_prop_rectification (double)
• ~cv_cap_prop_iso_speed (double)

And supports any props. Thanks to Hernan Badino!

• ~property_$(i)_code (int) – set this code property using ~property_$(i)_value, $(i) must start from 0.
• ~property_$(i)_value (double) – the value to be set to ~property_$(i)_code

If you want to set the property which code is 404 as 1,

rosrun cv_camera cv_camera_node _property_0_code:=404 _property_0_value:=1

If you want to set more, use ~property_1_code and ~property_1_value.

Nodelet

This node works as nodelet (cv_camera/CvCameraNodelet).

Contributors

PR is welcome. I'll review your code to keep consistency, be patient.

• Oleg Kalachev
• Mikael Arguedas
• Maurice Meedendorp
• Max Schettler
• Lukas Bulwahn

Changelog for package cv_camera

0.6.0 (2021-07-06)

• Adding MONO8 format if number of channels is 1
• Contributors: Servando

0.5.0 (2020-05-30)

• Use OpenCV 3.x+ enums instead of 2.x defines (#28)
• Allow specifying camera name for camera_info_manager (#26) I think this is reasonable. Thanks.
• Contributors: Alexey Rogachevskiy

0.4.0 (2019-05-08)

• Update for Melodic release Use libopencv-dev instead of opencv3
• Add link to ROS2 fork
• Improve README.md style
• Add capture_delay parameter
• Fix rescaling coefficient calculation (#15)
• Remove mail address of contributors
• Fix topic names Before this change, /image_raw, /camera_info is published. But that is not designed. As in README.md, it publishes ~image_raw, ~camera_info, that means it contains node name as prefix. This is broken so long time ago, (and test was failing.)
• Add contributers in README
• Format code
• Automatic rescaling camera info with rescale_camera_info parameter (#10) (#13)
• update to use non deprecated pluginlib macro (#9)
• Contributors: Mikael Arguedas, Oleg Kalachev, Takashi Ogura

0.3.0 (2017-10-03)

• Update README.md
• Add device_path support (#8)
  • Add device_path support
• Contributors: Maurice Meedendorp, Takashi Ogura

0.2.1 (2017-05-05)

• use OpenCV3
• rostest is optional

0.1.0 (2015-10-17)

• Fix opencv2 to libopencv-dev
• Contributors: Takashi Ogura

0.0.3 (2015-10-17)

• Enable any prop code
• Fix coding style using roslint
• Support CV_CAP_PROP* params
• Contributors: Takashi Ogura

0.0.2 (2013-11-08)

• rostest should be build_depend (for binary package build) see http://docs.ros.org/api/catkin/html/howto/rostest_configuration.html for more information.

0.0.1 (2013-11-07)

• change behavior with calibration yaml. overwrite image size with yaml data if yaml is specified. if no calib is provided, use image size.
• add offline mode and tests
• use camera_info_manager for CameraInfo.
• add parameters frame_id/image_width/image_height
• ROS Camera node by cv::VideoCapture
• Initial commit