This package is intended to get and publish camera video stream. It also allows camera calibration storing the calibration files for 3 diferent cameras.
This package uses the OpenCV library to get video frames, which are then published through the "usb_cam_reader/image_raw" topic, using the image_transport ros library. The images are previously converted to ros image messages using the cv_bridge ros library. This package uses camera calibration ros library for easy camera calibration.
This package allows camera calibration, just by changing the value of size and square arguments of the calibration launch file. Which are the checkerboard number of internal squares and their dimension, in meters.
After the launch file is set run it by doing:
Here is an example on how to use the usb_cam_reader package, using the computer webcam ( if there is one ), which index is 0:
In order to use an external usb camera, the launch file parameter "cam_id" must be set to the corresponding camera index, which can be obtained by doing: