A ROS2 python node for streaming video files or stream images in a folder to a topic.
Used as a camera simulator if you have pre-recorded video you want to stream, or if you have a dataset of video frames as images, that you want to replay.
- Stream images from folder
- Stream video from path
- Supply camera calibration file for camera or images to publish camera_info.
This is a work in progress.
colcon build --symlink-install
source ./install/setup.bash
Make sure to activate the workspace where vision_opencv is first.
ros2 run camera_simulator camera_simulator --type video --path <my-video-path>
If for some reason you do not have a bag file of CameraInfo (camera calibration information) and images, what this app can do is simulate this
ros2 run camera_simulator camera_simulator --type image --path <image-folder-path> --calibration_file <calibration-path>
In the data folder you'll find some examples of this, calibration configuration sample file (converted to ROS2 calibration file from 2009_09_08_calib.txt for the left camera (camera 1)) and some images. Start up image_proc as you would to rectify
your images and you should be good to go.