/rqt_cam

rqt_cam is a ROS Image Viewer plugin with "ecam_v4l2" publisher that can stream and control video devices using V4l2.

Primary LanguageC++

rqt_cam : Open Source ROS V4L2 Camera Plugin

High performance video capture using Video4Linux2. This package consists of a publisher node (ecam_v4l2) and an image viewer plugin(rqt_cam).

ecam_v4l2

"ecam_v4l2" is the publisher node which publishes image in the topic corresponding to the name of the camera. It also provides Services for Selecting Cameras, changing V4l2 controls and switching Color Space/Compression, Resolution and Framerate.

Published Topics

The Number of topics published is based on the number of cameras connected. The topic name will be the name of the camera. For example,

  • /ecam_v4l2/See3CAM_CU20_C7500000

List of Services:

  • /ChooseDevice
  • /QueryControl
  • /SetControl
  • /EnumerateFormat
  • /Setformat

rqt_cam

"rqt_cam" is an image viewer plugin which will get all the topics published of type "ecam_v4l2/image" and will stream the image data.

It also provides UI for changing V4l2 controls and to switch Color space/Compression, Resolution and Framerate.

Supported v4l2 controls:

  • Brightness
  • Contrast
  • Saturation
  • Sharpness
  • Gamma
  • Gain
  • Hue
  • White Balance
  • Zoom
  • Pan
  • Tilt
  • Exposure
  • Focus (Absolute)
  • Focus
  • Backlight Compensation

Supported Color space/Compression:

  • UYVY
  • YUYV
  • MJPG
  • Y8
  • Y12
  • Y16

Supported E-con Camera's

USB Camera

* See3CAM_CU20
* See3CAM_CU30
* See3CAM_CU38
* See3CAMCU50
* See3CAM_CU51
* See3CAM_CU130
* See3CAM_CU135
* See3CAM_11CUG
* See3CAM_12CUNIR
* See3CAM_30
* See3CAM_81
* See3CAM_130 Autofocus
* See3CAM_CU55M
* See3CAM_20CUG
  • See3CAM_CU135M_H01R1
  • See3CAM_CU135M_H03R1

MIPI camera

* e-CAM130_CUXVR

Prerequisites

How to Use

Releases

  • Latest releases can be downloaded from this link

Release

  • rqt_cam v1.0.0 - 20-Jan-2020

Support

If you need assistance, visit at https://www.e-consystems.com/create-ticket.asp or contact us at techsupport@e-consystems.com

For running in Our sensor

First, run the ros-service for the cameras.

roslaunch ecam_v4l2 launch.launch

Now, run all the See3CAM availables. Default parameters are saved in config/result.json and camera parameters are saved in config/camera_parameters.yaml.

roslaunch ecam_v4l2 launch_parameters.launch

Paramaters can be loaded by changing the .yaml file or via terminal. For example, to change the parameters of the camera:

rosparam list
/camera_parameters/Auto Exposure/cur_value
/camera_parameters/Brightness/cur_value
/camera_parameters/Contrast/cur_value
/camera_parameters/Gain/cur_value
/camera_parameters/Gamma/cur_value
/camera_parameters/Power Line Frequency/cur_value
/camera_parameters/Saturation/cur_value
/camera_parameters/Sharpness/cur_value
/camera_parameters/White Balance, Automatic/cur_value

And lets change the Brightness,

rosparam set /camera_parameters/Brightness/cur_value 1

Note that parameters are changed for all the cameras

How to view images?

Using the viewer of this repo:

rqt_cam

Using the rename topics _view and rqt_image_view or rviz.