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opencv_cam package from opencv_cam repo

opencv_cam

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.2.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2 OpenCV camera driver that supports intra-process communication
Checkout URI https://github.com/clydemcqueen/opencv_cam.git
VCS Type git
VCS Version master
Last Updated 2023-11-03
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags ipc ros2 opencv3
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

OpenCV camera driver

Additional Links

Maintainers

  • Clyde McQueen

Authors

  • Clyde McQueen
  • Peter Mullen
README.md

opencv_cam

A simple ROS2 camera driver based on OpenCV.

Supports ROS2 intra-process comms.

Requires ROS2 and ros-$ROS_DISTRO-camera-calibration-parsers. Builds for ROS2 Foxy, Galactic, Humble and Iron.

Install and build

mkdir ~/ros2/opencv_cam_ws/src
cd ~/ros2/opencv_cam_ws/src
git clone https://github.com/clydemcqueen/opencv_cam.git
git clone https://github.com/ptrmu/ros2_shared.git
cd ~/ros2/opencv_cam_ws/
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build

Usage

Default is to publish images from /dev/video0:

ros2 run opencv_cam opencv_cam_main

A more complex example:

ros2 run opencv_cam opencv_cam_main --ros-args --remap /image_raw:=/my_camera/image_raw --params-file opencv_cam_params.yaml

… where opencv_cam_params.yaml is:

/opencv_cam:
  ros__parameters:
    file: True
    filename: 'my_camera.MOV'
    camera_info_path: 'my_camera_info.ini'
    camera_frame_id: 'my_camera'

Intra-process comms

IPC test – CLI composition:

# First shell
ros2 run rclcpp_components component_container

# Second shell (ignore the deprecation warning, see https://github.com/ros2/ros2cli/issues/336)
ros2 component load /ComponentManager opencv_cam opencv_cam::ImageSubscriberNode -e use_intra_process_comms:=true
ros2 component load /ComponentManager opencv_cam opencv_cam::OpencvCamNode -e use_intra_process_comms:=true

Launch file composition:

ros2 launch opencv_cam composition_launch.py

Manual composition – handy for debugging:

ros2 run opencv_cam ipc_test_main

Parameters

Parameter Type Default Notes
file bool False Read from file vs. read from device
fps int 0 Framerate. Specify 0 to publish at the recorded (file) or default (device) framerate
filename string ”” Filename, ignored if file is False
index int 0 Device index, 0 for /dev/video0. Ignored if file is True
width int 0 Device width in pixels. Specify 0 for default. Ignored if file is True
height int 0 Device width in pixels. Specify 0 for default. Ignored if file is True
camera_info_path string “info.ini” Camera info path
camera_frame string “camera_frame” Camera frame id

Camera info file formats

Uses the ROS standard camera calibration formats. Files must end in .ini or .yaml.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
camera_calibration_parsers
class_loader
rclcpp
ros2_shared
sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged opencv_cam at Robotics Stack Exchange

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