Cameras

Cameras provide image data to the robot that can be used for object identification, tracking and manipulation tasks. This portal currently contains both monocular and stereo cameras.

Maintainer: Jack O'Quin (camera_drivers stack)

Tutorials

Calibration

Configuration

camera1394

Prosilica Camera

WGE100 Camera

General

Writing Drivers

Drivers

Monocular Cameras

USB Cameras

  • cv_camera Uses OpenCV. Supports camera_info_manager.

  • pylon_camera For Basler cameras.

  • usb_cam Unmaintained. Uses libavcodec for mjpeg.

  • uvc_camera Unmaintained. Supports camera_info_manager.

Firewire

Ethernet

IDS/uEye

Other

Stereo Cameras

API

There has recently been interest in developing a single standard USB camera driver for the eturtle release of ROS. Parameter standardization may also be a worthwhile effort at some level.

Support Packages

Messages

sensor_msgs/Image

sensor_msgs/CameraInfo

diagnostic_msgs/DiagnosticStatus

Topics

Services

sensor_msgs/SetCameraInfo

polled_camera/GetPolledImage

diagnostic_msgs/SelfTest

wge100_camera/BoardConfig

photo/GetConfig

photo/SetConfig

photo/Capture

Parameters

  • ~auto_brightness (int, default: 1)
  • ~auto_exposure (int, default: 1)
  • ~auto_focus (int, default: 1)
  • ~auto_gain (int, default: 1)
  • ~auto_gamma (int, default: 1)
  • ~auto_hue (int, default: 1)
  • ~auto_iris (int, default: 1)
  • ~auto_saturation (int, default: 1)
  • ~auto_sharpness (int, default: 1)
  • ~auto_shutter (int, default: 1)
  • ~auto_white_balance (int, default: 1)
  • ~auto_zoom (int, default: 1)
  • ~bayer_method (str, default: )
  • ~bayer_pattern (str, default: )
  • ~binning_x (int, default: 0)
  • ~binning_y (int, default: 0)
  • ~brightness (double, default: 0.0)
  • ~camera_info_url (string, default: )
  • ~device (string, default: /dev/video0)
  • ~exposure (double, default: 0.0)
  • ~focus (double, default: 0.0)
  • ~format7_color_coding (str, default: mono8)
  • ~format7_packet_size (int, default: 0)
  • ~fps (int, default: 10)
  • ~frame_id (str, default: camera)
  • ~frame_rate (double, default: 15.0)
  • ~gain (double, default: 0.0)
  • ~gamma (double, default: 2.2)
  • ~guid (str, default: )
  • ~height (int, default: 480)
  • ~hue (double, default: 0.0)
  • ~iris (double, default: 8.0)
  • ~iso_speed (int, default: 400)
  • ~left/camera_info_url (string, default: )
  • ~left/device (string, default: /dev/video0)
  • ~left/rotate (bool, default: false)
  • ~reset_on_open (bool, default: False)
  • ~right/camera_info_url (string, default: )
  • ~right/device (string, default: /dev/video1)
  • ~right/rotate (bool, default: false)
  • ~roi_height (int, default: 0)
  • ~roi_width (int, default: 0)
  • ~saturation (double, default: 1.0)
  • ~sharpness (double, default: 1.0)
  • ~shutter (double, default: 1.0)
  • ~skip_frames (int, default: 0)
  • ~video_mode (str, default: 640x480_mono8)
  • ~white_balance_BU (double, default: 0.0)
  • ~white_balance_RV (double, default: 0.0)
  • ~width (int, default: 640)
  • ~x_offset (int, default: 0)
  • ~y_offset (int, default: 0)
  • ~zoom (double, default: 0.0)

Support

ROS Answers

Wiki: Sensors/Cameras (last edited 2018-03-07 10:28:25 by FelixRuess)