No version for distro humble. Known supported distros are highlighted in the buttons above.

No version for distro iron. Known supported distros are highlighted in the buttons above.

No version for distro rolling. Known supported distros are highlighted in the buttons above.

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Latest build history: Tue, 08 Dec 2020 01:19:03 GMT (last 2 of 2 builds) #2 08-Dec-2020 01:10 3 / 4 #1 07-Dec-2020 15:08 3 / 4
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. Known supported distros are highlighted in the buttons above.

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control
jsk_baxter_startup	github-jsk-ros-pkg-jsk_robot

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control
jsk_baxter_startup	github-jsk-ros-pkg-jsk_robot

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

video_stream_opencv

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.6
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-drivers/video_stream_opencv.git
VCS Type	git
VCS Version	master
Last Updated	2021-04-13
Dev Status	MAINTAINED
CI status	Latest build history: Tue, 08 Dec 2020 00:33:58 GMT (last 5 of 17 builds) #17 08-Dec-2020 00:25 4 / 4 #16 13-Nov-2020 01:24 4 / 4 #15 26-Oct-2020 09:24 4 / 4 #14 28-Apr-2020 11:24 4 / 4 #13 27-Apr-2020 00:24 4 / 4
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The video_stream_opencv package contains a node to publish a video stream (the protocols that opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities, also adjusting publishing rate.

Additional Links

Maintainers

Sammy Pfeiffer

Authors

Sammy Pfeiffer

README.md

video_stream_opencv

A package to view video streams based on the OpenCV VideoCapture module, easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images and fps throttling.

Screenshot of the plugin working with a webcam, video stream and video file

Example usages in launch folder (only the argument video_stream_provider is mandatory):

<launch>
   <!-- launch video stream -->
   <include file="$(find video_stream_opencv)/launch/camera.launch" >
        <!-- node name and ros graph name -->
        <arg name="camera_name" value="webcam" />
        <!-- means video device 0, /dev/video0 -->
        <arg name="video_stream_provider" value="0" />
        <!-- set camera fps to (if the device allows) -->
        <arg name="set_camera_fps" value="30"/>
        <!-- set buffer queue size of frame capturing to -->
        <arg name="buffer_queue_size" value="100" />
        <!-- throttling the publishing of frames to -->
        <arg name="fps" value="30" />
        <!-- setting frame_id -->
        <arg name="frame_id" value="webcam" />
        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
        <arg name="camera_info_url" value="" />
        <!-- flip the image horizontally (mirror it) -->
        <arg name="flip_horizontal" value="false" />
        <!-- flip the image vertically -->
        <arg name="flip_vertical" value="false" />
        <!-- force a width and height, 0 means no forcing -->
        <arg name="width" value="640"/>
        <arg name="height" value="480"/>
        <!-- visualize on an image_view window the stream generated -->
        <arg name="visualize" value="true" />
   </include>
</launch>

Based on the ROS tutorial to convert opencv images to ROS messages.

Usability

You can use any input that OpenCV on your system accepts, e.g.:

Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
Video files, anything you can play, e.g.: myvideo.avi
Etc.

Parameters

Note these important ones on the behaviour of the node:

set_camera_fps: Will set the OpenCV parameter CV_CAP_PROP_FPS to that amount of fps, if the camera allows it. Does nothing on video streams or video files.
buffer_queue_size: Will set the size of the buffer of images read from the capturing device. We read as fast as possible (in another thread) from the device and store in the buffer the images. The main thread consumes from the buffer. If you want the shortest delay/lag set it to 1. If you don't want to lose images set it higher.
fps: The effective rate at which you want the image topic to publish, if lower than the effective fps of the camera it will throttle the publication dropping frames when needed.

So if you want the very latest image published from a camera, set buffer_queue_size to 1, set_camera_fps to the max the camera allows and fps to that same max.

If you want to publish all images (don't drop any and you don't mind some possible delay from real time), set buffer_queue_size big enough for your case (1000?), set_camera_fps and fps to whatever FPS it has.

The rest of the parameters explained, even though they are pretty self explanatory:

camera_name: node name and ros graph name. All topics will hang from this e.g.: /camera_name/.
video_stream_provider: A number for the /dev/videoX device, e.g.: 0 for /dev/video0. A string for a path for a video file, e.g.: /home/user/Videos/myvideo.avi or a url of a video stream e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov and http://10.68.0.6/mjpg/video.mjpg.
frame_id: frame_id to be published in the Header of the messages.
camera_info_url: camera info loading, take care as it needs the "file:///" at the start , e.g.: "file:///$(find your_camera_package)/config/your_camera.yaml".
flip_horizontal: flip horizontally the image (mirror it).
flip_vertical: flip vertically the image (upside down).
loop_videofile: if the provider is a video file, enable loop playback.
width and height: force a width and height to the capturing device (if it allows), 0 means no forcing.
start_frame: if the provider is a video file, set the start frame of video.
stop_frame: if the provider is a video file, set the stop frame of video. -1 means the end of the video. Also setting stop_frame = start_frame + 1 can publish a single frame with a certain rate.

Extras

In the scripts folder you'll find test_video_resource.py which you can use to test if your system installation can use this node to open your video stream (not using any ROS, just copy the file to your computer and try). Just do any of those:

./test_video_resource.py 0
./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
./test_video_resource.py /home/youruser/myvideo.mkv

And you'll see an output like:

Trying to open resource: /dev/video0
Correctly opened resource, starting to show feed.

With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).

CHANGELOG

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

#67 Deal better with looping on a video file and the start and stop frame selection
#77 Noticed the default camera info was actually wrong, corrected
#69 Get canonical file for target device and give a warning if we convert to a canonical path
Fix typo when moving log to debug
#57 Enable to select the start and stop points for playing video file.
Avoid the excess of [start_frame]{.title-ref} compared to [stop_frame]{.title-ref} for playing video file.
#55 Add title and travis badge
#54 Enable testing on melodic
Add linesep for each mp jpeg
#53 Upgrade to OpenCV 4
#52 video_stream: fix disconnect callbacks never being called
Video_stream: make sure to always increase suscriber count
#50 Add option to set output_encoding
Add link to cv_bridge::cvtColor
Add config to set output_encoding
#49 Use variable config instead of class properties
#51 install with source permissions, install small.mp4, install test directory to enable testing in catkin install space
#45 libvideo_stream_opencv now depends on gencfg
#44 Don\'t download test data on source directory
#43 Add option to re-open camera device on read failure
#39 Add dependency for gencfg
#37 Support camera property settings on dynamic reconfigure
#36 Fix bugs for thread initialization/deinitialization
#34 Support changing parameter by using dynamic reconfigure
Add dependencies for test
Support dynamic_reconfigure
#33 Convert video_stream node to nodelet, use nodelet for video_stream
#31 Do not flip old image multiple times, closes #30
#35 Enable CI
Contributors: Alexander R

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	cv_bridge
	1	image_transport
	1	camera_info_manager
	1	dynamic_reconfigure
	1	nodelet
	1	roscpp
	1	rospy
	2	sensor_msgs
	1	catkin
	1	rostest
	1	rostopic

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
eus_teleop	github-jsk-ros-pkg-jsk_control

Launch files

launch/test_camera_info.launch
launch/mjpg_stream.launch
launch/rtsp_stream.launch
launch/webcam.launch
launch/camera.launch
- - camera_name [default: camera]
  - video_stream_provider [default: 0]
  - set_camera_fps [default: 30]
  - buffer_queue_size [default: 100]
  - fps [default: 30]
  - frame_id [default: $(arg camera_name)]
  - camera_info_url [default: ]
  - flip_horizontal [default: false]
  - flip_vertical [default: false]
  - width [default: 0]
  - height [default: 0]
  - loop_videofile [default: false]
  - start_frame [default: 0]
  - stop_frame [default: -1]
  - visualize [default: false]
launch/video_file.launch
- - start_frame [default: 0]
  - stop_frame [default: -1]

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

API Docs Browse Code Wiki

video_stream_opencv package from video_stream_opencv repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

video_stream_opencv

Usability

Parameters

Extras

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged video_stream_opencv at Robotics Stack Exchange

video_stream_opencv package from video_stream_opencv repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

video_stream_opencv

Usability

Parameters

Extras

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged video_stream_opencv at Robotics Stack Exchange

video_stream_opencv package from video_stream_opencv repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

video_stream_opencv

Usability

Parameters

Extras

Changelog for package video_stream_opencv

1.1.6 (2020-12-08)

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged video_stream_opencv at Robotics Stack Exchange

video_stream_opencv package from video_stream_opencv repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

video_stream_opencv

Usability

Parameters

Extras

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange

Recent questions tagged `video_stream_opencv` at Robotics Stack Exchange