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camera_umd: jpeg_streamer | uvc_camera | uvc_stereo

Package Summary

A collection of node(let)s that stream images from USB cameras (UVC) and provide CameraInfo messages to consumers. Includes a two-camera node that provides rough synchronization for stereo vision. Currently uses the base driver from Morgan Quigley's uvc_cam package.

Overview

This package provides drivers for USB Video Class (UVC) cameras. This standard covers almost all consumer webcams.

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

The drivers are implemented as nodes and as nodelets.

ROS API

camera_node / CameraNodelet

UVC/USB camera driver.

Published Topics

image_raw (sensor_msgs/Image) camera_info (sensor_msgs/CameraInfo)

Services

set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

~camera_info_url (string, default: ) ~device (string, default: /dev/video0) ~fps (int, default: 10) ~width (int, default: 640) ~height (int, default: 480) ~frame_id (string, default: frame)

stereo_node / StereoNodelet

UVC/USB dual-camera driver.

Published Topics

left/image_raw (sensor_msgs/Image) right/image_raw (sensor_msgs/Image) left/camera_info (sensor_msgs/CameraInfo) right/camera_info (sensor_msgs/CameraInfo)

Services

left/set_camera_info (sensor_msgs/SetCameraInfo) right/set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

~left/camera_info_url (string, default: ) ~right/camera_info_url (string, default: ) ~left/device (string, default: /dev/video0) ~right/device (string, default: /dev/video1) ~fps (int, default: 10) ~skip_frames (int, default: 0) ~left/rotate (bool, default: false) ~right/rotate (bool, default: false) ~width (int, default: 640) ~height (int, default: 480) ~frame_id (string, default: frame)

To Do

Controls


2011-11-19 12:38