ROS OpenCV camera driver

It is very easy to capture video device if we use cv::VideoCapture of OpenCV.

cv_camera_node

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.

Publish

• ~image_raw (sensor_msgs/Image)
• ~camera_info (sensor_msgs/CameraInfo)

Service

• ~set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

• ~rate (double: default 30.0) publish rate [Hz].
• ~device_id (int: default 0) capture device id.
• ~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.

Usage

rosparam set cv_camera/device_id 0
rosrun cv_camera cv_camera_node

• with the first line set the camera device to use
• run the node with the second line

Nodelet

This node works as nodelet (cv_camera/CvCameraNodelet).