## repository: git://ram.umd.edu/umd-ros-pkg.git
<<PackageHeader(uvc_camera)>>
<<TOC(4)>>

== Deprecation ==

'''This package is no longer actively maintained.''' Please use another driver, such as [[libuvc_camera|libuvc_camera]] ([[https://github.com/ktossell/libuvc_ros|github]]).

-----

== Overview ==
This package provides drivers for USB Video Class (UVC) cameras. This standard covers almost all consumer webcams.  The source is on github https://github.com/ktossell/camera_umd

It works with the ROS [[image_pipeline]] like other streaming [[camera_drivers|camera drivers]]. Its [[#Stereo|stereo node]] supports binocular streams, publishing synchronized image pairs from two cameras.

The drivers are implemented as nodes and as [[nodelet|nodelets]].

<<Anchor(ROS_API)>>
== ROS API ==

{{{
#!clearsilver CS/NodeAPI
node.0 {
name=camera_node / CameraNodelet
desc=UVC/USB camera driver.
pub{
0.name=image_raw
0.type=sensor_msgs/Image
0.desc=A stream of images from the camera.
1.name=camera_info
1.type=sensor_msgs/CameraInfo
1.desc=Camera intrinsics for images published on `camera/image_raw` with matching time stamps and frame IDs. If !CameraInfo calibration is not available or is incompatible with the current `video_mode`, uncalibrated data will be provided instead.
}
srv{
1.name=set_camera_info
1.type=sensor_msgs/SetCameraInfo
1.desc=Set the camera's calibration.
}
 param{
  0.name= ~camera_info_url
  0.default=
  0.type= string
  0.desc= URL to camera's calibration file. See [[camera_info_manager]].
  2.name= ~device
  2.default= /dev/video0
  2.type= string
  2.desc= Path to camera's device file
  4.name= ~fps
  4.default= 10
  4.type= int
  4.desc= Frames per second to request from camera
  8.name= ~width
  8.default= 640
  8.type= int
  8.desc= Width of image to request from camera
  9.name= ~height
  9.default= 480
  9.type= int
  9.desc= Height of image to request from camera
  10.name= ~frame_id
  10.default= frame
  10.type= string
  10.desc= TF frame representing position, orientation of camera
  }
}}}

<<Anchor(Stereo)>>
{{{
#!clearsilver CS/NodeAPI
node.0 {
name=stereo_node / StereoNodelet
desc=UVC/USB dual-camera driver.
pub{
0.name=left/image_raw
0.type=sensor_msgs/Image
0.desc=A stream of images from the left camera.
1.name=right/image_raw
1.type=sensor_msgs/Image
1.desc=A stream of images from the right camera.
2.name=left/camera_info
2.type=sensor_msgs/CameraInfo
2.desc=Camera intrinsics for images published on `left/image_raw` with matching time stamps and frame IDs. If !CameraInfo calibration is not available or is incompatible with the current `video_mode`, uncalibrated data will be provided instead.
3.name=right/camera_info
3.type=sensor_msgs/CameraInfo
3.desc=Camera intrinsics for images published on `right/image_raw` with matching time stamps and frame IDs.
}
srv{
1.name=left/set_camera_info
1.type=sensor_msgs/SetCameraInfo
1.desc=Set the left camera's calibration.
2.name=right/set_camera_info
2.type=sensor_msgs/SetCameraInfo
2.desc=Set the right camera's calibration.
}
 param{
  0.name= ~left/camera_info_url
  0.default=
  0.type= string
  0.desc= URL to left camera's calibration file. See [[camera_info_manager]].
  1.name= ~right/camera_info_url
  1.default=
  1.type= string
  1.desc= URL to right camera's calibration file.
  2.name= ~left/device
  2.default= /dev/video0
  2.type= string
  2.desc= Path to left camera's device file
  3.name= ~right/device
  3.default= /dev/video1
  3.type= string
  3.desc= Path to right camera's device file
  4.name= ~fps
  4.default= 10
  4.type= int
  4.desc= Frames per second to request from camera
  5.name= ~skip_frames
  5.default= 0
  5.type= int
  5.desc= Number of frames to skip between each published frame
  6.name= ~left/rotate
  6.default= false
  6.type= bool
  6.desc= Left image will be rotated 180 degrees if `true`.
  7.name= ~right/rotate
  7.default= false
  7.type= bool
  7.desc= Right image will be rotated 180 degrees if `true`.
  8.name= ~width
  8.default= 640
  8.type= int
  8.desc= Width of image to request from camera
  9.name= ~height
  9.default= 480
  9.type= int
  9.desc= Height of image to request from camera
  10.name= ~frame_id
  10.default= frame
  10.type= string
  10.desc= TF frame representing position, orientation of left camera
  }
}}}

== To Do ==
=== Controls ===
 - Add support for runtime control of various camera settings.