Package Name

Overview

ROS package to capture frames from any UVC camera. The frame are shared using image_transport package. Camera settings (height, width and frequency) can be changed dynamically with the ROS service "set_camera".

Keywords: camera, capture, uvc

License

The source code is released under a BSD 2-Clause license.

Author: Anthony Cavin

The camera_capture package has been tested under ROS kinetic and Ubuntu 16.04.

Installation

Reference page to install ROS kinetic on Ubuntu:

Robot Operating System (ROS)

Dependencies

Robot Operating System (ROS) (middleware for robotics),
image_transport (ROS package),
OpenCV (library for computer vision)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/AnthonyCvn/camera_capture.git
cd ../
catkin build camera_capture

Unit Tests

Run the unit tests with

catkin run_tests camera_capture

Usage

Run the main node with

roslaunch camera_capture camera_capture.launch

Launch files

camera_capture.launch: Launch one camera.

Argument set 1
- is_running Run (true) or stop (false) the camera. Default: true.
Argument set 2
- camera_num Camera number to run. Default: 0.
Argument set 3
- is_stereo Set true for stereo camera. Default: false.
Argument set 4
- height Resolution in pixel. Default: 720.
Argument set 5
- width Resolution in pixel. Default: 2560.
Argument set 6
- fps Frame per second to capture from the camera. Default: 30.

Nodes

camera_capture

Open the UVC camera and share the frames using image_transport package.

Published Topics

/image (sensor_msgs/Image)

The images captured with the camera in raw format.
/image/theora (theora_image_transport/Packet)

The images captured with the camera compressed with the Theora codec.

Services

set_camera ([camera_capture/SetCamera])

Set dynamically camera's settings.

  rosservice call /camera_capture/set_camera "{height: 1080, width: 1920, fps: 30, conf_camera: true, run_camera: true}"

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.