ROS Node: OpenCV Camera

Author: Kevin Walchko

License: BSD

Language: C++

Website: TBD

Simple generic camera driver using OpenCV to grab images.

Command Line

rosrun camera_node opencv_cam _source:=# _size:=#x# _debug:=true/false

• debug: true or false, prints fps to command line and opens a window to show captured image
• source: > 0 selects a camera other than default
• size: my MacBook Pro can do 160x120, 320x240, 640x480
• fps: my MacBook Pro seems to ignore fps and always gives me ~15 fps

Published Topics:

Image: "/opencv_cam/camera"

Example:

rosrun camera_node opencv_cam _debug:=true _size:=160x120 _fps:=30

To Do

• finalize published image
• handle real-time setting camera parameters
• handle reading camera parameters from a file

ROS Node: OpenCV Camera Calibration Tool

Author: Kevin Walchko

License: BSD

Language: C++

Website: TBD

Camera calibration code from OpenCV ported to ROS.

Command Line

rosrun camera_node calibrate

Example:

rosrun camera_node calibrate

To Do

• Clean-up code
• Handle saving camera parameters better