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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) |
Packages
| Name | Version |
|---|---|
| opencv_cam | 0.2.0 |
README
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.
CONTRIBUTING
No CONTRIBUTING.md found.
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