ROS OpenCV camera driver supporting fisheye and pinhole distortion correction

The solution was based on "https://github.com/Skammi/cv_camera", a fork of "https://github.com/OTL/cv_camera"

It is very easy to capture video device if we use cv::VideoCapture of OpenCV.

If you are searching ROS2 driver, check here

cv_camera_node

This node uses camera_info_manager for dealing with camera_info. If no calibration data is set, it has dummy values except for width and height.

Example with distortion correction

rosrun cv_camera cv_camera_node _image_width:=640 _cv_cap_prop_frame_width:=640 _image_height:=480 _cv_cap_prop_frame_height:=480 _rate:=30 _cv_cap_prop_fps:=30 _rescale_camera_info:=true _camera_info_url:="file:///home/${USER}/640x480.yaml"  _undistorted_fov_scale:=1.0 _undistorted_resolution_scale:=1.0 _undistorted_on:=true

Publish

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

Service

• ~set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

• ~rate (double, default: 30.0) – publish rate [Hz].
• ~device_id (int, default: 0) – capture device id.
• ~device_path (string, default: "") – path to camera device file, e. g. /dev/video0.
• ~frame_id (string, default: "camera") – frame_id of message header.
• ~image_width (int) – try to set capture image width.
• ~image_height (int) – try to set capture image height.
• ~camera_info_url (string) – url of camera info yaml.
• ~file (string, default: "") – if not "" then use movie file instead of device.
• ~capture_delay (double, default: 0) – estimated duration of capturing and receiving the image.
• ~rescale_camera_info (bool, default: false) – rescale camera calibration info automatically.
• ~camera_name (bool, default: same as frame_id) – camera name for camera_info_manager.
• ~flip_image (bool, default: false) – flip the image according to image_flip_code.
• ~image_flip_code (int, default: -1) – code to flip the image see cv::flip() for description.
• ~undistorted_on (bool, default: false) – if true, then distortion will be removed from the image before publishing to the topics, and the distortion matrices will be corrected according to the new parameters.
• ~undistorted_fov_scale (double, default: 1.0) – coefficient of multiplication of camera angle of view after distortion removal.
• ~undistorted_resolution_scale (double, default: 1.0) – coefficient of change of resolution in relation to the initial one after distortion removal. We recommend choosing undistorted_resolution_scale=undistorted_fov_scale if you want to keep all the details in the image.

Supports CV_CAP_PROP_*, by below params.

• ~cv_cap_prop_pos_msec (double)
• ~cv_cap_prop_pos_avi_ratio (double)
• ~cv_cap_prop_frame_width (double)
• ~cv_cap_prop_frame_height (double)
• ~cv_cap_prop_fps (double)
• ~cv_cap_prop_fourcc (double)
• ~cv_cap_prop_frame_count (double)
• ~cv_cap_prop_format (double)
• ~cv_cap_prop_mode (double)
• ~cv_cap_prop_brightness (double)
• ~cv_cap_prop_contrast (double)
• ~cv_cap_prop_saturation (double)
• ~cv_cap_prop_hue (double)
• ~cv_cap_prop_gain (double)
• ~cv_cap_prop_exposure (double)
• ~cv_cap_prop_convert_rgb (double)
• ~cv_cap_prop_rectification (double)
• ~cv_cap_prop_iso_speed (double)

And supports any props. Thanks to Hernan Badino!

• ~property_$(i)_code (int) – set this code property using ~property_$(i)_value, $(i) must start from 0.
• ~property_$(i)_value (double) – the value to be set to ~property_$(i)_code

If you want to set the property which code is 404 as 1,

rosrun cv_camera cv_camera_node _property_0_code:=404 _property_0_value:=1

If you want to set more, use ~property_1_code and ~property_1_value.

Nodelet

This node works as nodelet (cv_camera/CvCameraNodelet).

Contributors

PR is welcome. I'll review your code to keep consistency, be patient.

• Oleg Kalachev
• Mikael Arguedas
• Maurice Meedendorp
• Max Schettler
• Lukas Bulwahn