Cameras

Cameras provide image data to the robot that can be used for object identification, tracking and manipulation tasks. This portal currently contains both monocular and stereo cameras.

Maintainer: Jack O'Quin (camera_drivers stack)

Tutorials

Calibration

• Monocular Camera Calibration

• Stereo Camera Calibration

Configuration

camera1394

• How to Connect to an IEEE 1394 Camera

• How to Set IEEE 1394 Camera Parameters Dynamically

• How to Set IEEE 1394 Camera Bayer Parameters

• How to Configure IEEE 1394 Camera Features

• How to Calibrate an IEEE 1394 Camera

• How to Use Multiple IEEE 1394 Cameras

Prosilica Camera

• How to Determine Prosilica GigE Camera's IP Address

• Configuring the Prosilica GigE for a Desktop

• Introduction to working with the Prosilica camera

• Configuring the Prosilica GigE for the PR2

WGE100 Camera

• Configuring the WGE100 Camera

• Configuring the WGE100 Stereo Camera

General

• image_transport/Tutorials

Writing Drivers

• Using camera_info_manager in a Camera Driver (C++)

Drivers

Monocular Cameras

USB Cameras

• gencam_cu

• usb_cam

• uvc_camera

• dynamic_uvc_cam

Note : Supports camera calibration using camera_info_manager

Firewire

• IEEE 1394 Digital Camera

Ethernet

• Prosilica Camera

• WGE100 camera

Other

• canon_gphoto

• cmucam_png

• gstreamer camera driver

• gPhoto Driver

Stereo Cameras

• uvc_camera stereo node

• GeViCAM stereo camera

• videre_stereo_cam

API

There has recently been interest in developing a single standard USB camera driver for the eturtle release of ROS. Parameter standardization may also be a worthwhile effort at some level.

Support Packages

• camera_calibration_parsers

• camera_info_manager

• image_transport

• polled_camera

Messages

Topics

Published Topics

• A stream of images from the camera.

• 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.

Services

Parameters

• ~auto_brightness (int, default: 1)
• ~auto_exposure (int, default: 1)
• ~auto_focus (int, default: 1)
• ~auto_gain (int, default: 1)
• ~auto_gamma (int, default: 1)
• ~auto_hue (int, default: 1)
• ~auto_iris (int, default: 1)
• ~auto_saturation (int, default: 1)
• ~auto_sharpness (int, default: 1)
• ~auto_shutter (int, default: 1)
• ~auto_white_balance (int, default: 1)
• ~auto_zoom (int, default: 1)
• ~bayer_method (str, default: )
• ~bayer_pattern (str, default: )
• ~binning_x (int, default: 0)
• ~binning_y (int, default: 0)
• ~brightness (double, default: 0.0)
• ~camera_info_url (string, default: )
• ~device (string, default: /dev/video0)
• ~exposure (double, default: 0.0)
• ~focus (double, default: 0.0)
• ~format7_color_coding (str, default: mono8)
• ~format7_packet_size (int, default: 0)
• ~fps (int, default: 10)
• ~frame_id (str, default: camera)
• ~frame_rate (double, default: 15.0)
• ~gain (double, default: 0.0)
• ~gamma (double, default: 2.2)
• ~guid (str, default: )
• ~height (int, default: 480)
• ~height (int, default: 480)
• ~hue (double, default: 0.0)
• ~iris (double, default: 8.0)
• ~iso_speed (int, default: 400)
• ~left/camera_info_url (string, default: )
• ~left/device (string, default: /dev/video0)
• ~left/rotate (bool, default: false)
• ~reset_on_open (bool, default: False)
• ~right/camera_info_url (string, default: )
• ~right/device (string, default: /dev/video1)
• ~right/rotate (bool, default: false)
• ~roi_height (int, default: 0)
• ~roi_width (int, default: 0)
• ~saturation (double, default: 1.0)
• ~sharpness (double, default: 1.0)
• ~shutter (double, default: 1.0)
• ~skip_frames (int, default: 0)
• ~video_mode (str, default: 640x480_mono8)
• ~white_balance_BU (double, default: 0.0)
• ~white_balance_RV (double, default: 0.0)
• ~width (int, default: 640)
• ~x_offset (int, default: 0)
• ~y_offset (int, default: 0)
• ~zoom (double, default: 0.0)

Support

ROS Answers