OLD VERSION

This is a documentation page dedicated to old versions of usb_cam package (0.3.7 and earlier). Please use the home page usb_cam to read the documentation of current/development versions!

Nodes

usb_cam_node

The usb_cam_node interfaces with standard USB cameras (e.g. the Logitech Quickcam) using libusb_cam and publishes images as sensor_msgs::Image. Uses the image_transport library to allow compressed image transport.

Published Topics

~<camera_name>/image_raw (sensor_msgs/Image)

• The image

Parameters

~video_device (string, default: "/dev/video0")

• The device the camera is on.

~image_width (integer, default: 640)

• Image width

~image_height (integer, default: 480)

• Image height

~pixel_format (string, default: "mjpeg")

• Possible values are mjpeg, yuyv, uyvy

~io_method (string, default: "mmap")

• Possible values are mmap, read, userptr

~camera_frame_id (string, default: "head_camera")

• The camera's tf frame

~framerate (integer, default: 30)

• The required framerate

~contrast (integer, default: 32)

• Contrast of video image (0-255)

~brightness (integer, default: 32)

• Brightness of video image (0-255)

~saturation (integer, default: 32)

• Saturation of video image (0-255)

~sharpness (integer, default: 22)

• Sharpness of video image (0-255)

~autofocus (boolean, default: false)

• Enable camera's autofocus

~focus (integer, default: 51)

• If autofocus is disabled, the focus of the camera (0=at infinity)

~camera_info_url (string, default: )

• An url to the camera calibration file that will be read by the CameraInfoManager class

~camera_name (string, default: head_camera)

• The camera name. This must match the name in the camera calibration

Related packages

cv_camera - supports image capture from usb cameras using OpenCV