It is very easy to capture video device if we use cv::VideoCapture
of OpenCV.
If you are searching ROS2 driver, check here
This node uses camera_info_manager for dealing with camera_info. If no calibration data is set, it has dummy values except for width and height.
~image_raw
(sensor_msgs/Image)~camera_info
(sensor_msgs/CameraInfo)
~set_camera_info
(sensor_msgs/SetCameraInfo)
~rate
(double, default: 30.0) – publish rate [Hz].~device_id
(int, default: 0) – capture device id.~device_path
(string, default: "") – path to camera device file, e. g./dev/video0
.~frame_id
(string, default: "camera") –frame_id
of message header.~image_width
(int) – try to set capture image width.~image_height
(int) – try to set capture image height.~camera_info_url
(string) – url of camera info yaml.~file
(string, default: "") – if not "" then use movie file instead of device.~capture_delay
(double, default: 0) – estimated duration of capturing and receiving the image.~rescale_camera_info
(bool, default: false) – rescale camera calibration info automatically.
Supports CV_CAP_PROP_*, by below params.
~cv_cap_prop_pos_msec
(double)~cv_cap_prop_pos_avi_ratio
(double)~cv_cap_prop_frame_width
(double)~cv_cap_prop_frame_height
(double)~cv_cap_prop_fps
(double)~cv_cap_prop_fourcc
(double)~cv_cap_prop_frame_count
(double)~cv_cap_prop_format
(double)~cv_cap_prop_mode
(double)~cv_cap_prop_brightness
(double)~cv_cap_prop_contrast
(double)~cv_cap_prop_saturation
(double)~cv_cap_prop_hue
(double)~cv_cap_prop_gain
(double)~cv_cap_prop_exposure
(double)~cv_cap_prop_convert_rgb
(double)~cv_cap_prop_rectification
(double)~cv_cap_prop_iso_speed
(double)
And supports any props. Thanks to Hernan Badino!
~property_$(i)_code
(int) – set this code property using~property_$(i)_value
, $(i) must start from 0.~property_$(i)_value
(double) – the value to be set to~property_$(i)_code
If you want to set the property which code is 404 as 1,
rosrun cv_camera cv_camera_node _property_0_code:=404 _property_0_code:=1
If you want to set more, use ~property_1_code
and ~property_1_code
.
This node works as nodelet (cv_camera/CvCameraNodelet
).
PR is welcome. I'll review your code to keep consistency, be patient.
- Oleg Kalachev
- Mikael Arguedas
- Maurice Meedendorp
- Max Schettler
- Lukas Bulwahn