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daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

daheng4ros repository

daheng4ros

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/vdovetzi/daheng4ros.git
VCS Type git
VCS Version jazzy
Last Updated 2025-10-18
Dev Status MAINTAINED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
daheng4ros 0.0.1

README

daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

Table of contents

Features

  • Use enhancements (contrast, brightness, sharpen).
  • Publish sensor_msgs/Image on a configurable topic using image_transport.
  • Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
  • Optional undistortion using K (camera matrix) and D (distortion coeffs).
  • Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

Requirements

  • ROS 2 Jazzy
  • C++17
  • Daheng Imaging SDK installed on the host (GxIAPI)
  • OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng’s instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

Contributing

Pull requests and Issues are welcome!

File truncated at 100 lines see the full file

CONTRIBUTING