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

If you are searching ROS2 driver, check here

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.

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

• ~set_camera_info (sensor_msgs/SetCameraInfo)

• ~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.
• ~boson (bool, default: true) – use this node for a FLIR Boson camera.

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_code:=1

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

The Boson is a thermal camera from FLIR, which plugs in to USB and acts like a webcam. You can capture data from the Boson by setting the parameter _boson:=true for this node.

OpenCV VideoCapture class has an opaque buffer which introduces delays in the data capture. Empirically I have observed this causes the timestamps to be off by about 500 ms for FLIR Boson. Hence this repository uses V4L code from the official Boson driver.

The flir_boson_usb package does not publish the raw 16-bit thermal data. It applies a linear AGC and some image processing. This repository will publish the raw 16-bit thermal data. You are responsible for manipulating it downstream.

This node works as nodelet (cv_camera/CvCameraNodelet).

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

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