rqt_cam : Open Source ROS V4L2 Camera Plugin

High performance video capture using Video4Linux2. This package consists of a publisher node (ecam_v4l2) and an image viewer plugin(rqt_cam).

ecam_v4l2

"ecam_v4l2" is the publisher node which publishes image in the topic corresponding to the name of the camera. It also provides Services for Selecting Cameras, changing V4l2 controls and switching Color Space/Compression, Resolution and Framerate.

Published Topics

The Number of topics published is based on the number of cameras connected. The topic name will be the name of the camera. For example,

• /ecam_v4l2/See3CAM_CU20_C7500000

List of Services:

• /ChooseDevice
• /QueryControl
• /SetControl
• /EnumerateFormat
• /Setformat

rqt_cam

"rqt_cam" is an image viewer plugin which will get all the topics published of type "ecam_v4l2/image" and will stream the image data.

It also provides UI for changing V4l2 controls and to switch Color space/Compression, Resolution and Framerate.

Supported v4l2 controls:

• Brightness
• Contrast
• Saturation
• Sharpness
• Gamma
• Gain
• Hue
• White Balance
• Zoom
• Pan
• Tilt
• Exposure
• Focus (Absolute)
• Focus
• Backlight Compensation

Supported Color space/Compression:

• UYVY
• YUYV
• MJPG
• Y8
• Y12
• Y16

Supported E-con Camera's

USB Camera

* See3CAM_CU20 
* See3CAM_CU30
* See3CAM_CU38
* See3CAMCU50
* See3CAM_CU51
* See3CAM_CU130
* See3CAM_CU135
* See3CAM_11CUG
* See3CAM_12CUNIR
* See3CAM_30
* See3CAM_81
* See3CAM_130 Autofocus
* See3CAM_CU55M
* See3CAM_20CUG

MIPI camera

* e-CAM130_CUXVR 

Prerequisites

• For Ubuntu 16.04 ROS Kinetic

• For Ubuntu 18.04 ROS Melodic

How to Use

• Build the package using this Build Manual

• Run the rqt_cam application using this User Manual

Releases

• Latest releases can be downloaded from this link

Release

• rqt_cam v1.0.0 - 20-Jan-2020

Support

If you need assistance, visit at https://www.e-consystems.com/create-ticket.asp or contact us at [email protected]