ocam_ros

A ROS wrapper for the OCAM Global Shutter Camera

This is basically a ROS wrapper around the withrobot opencv examples. It has been tested primarily with the 1CGN-U color global shutter camera, but will likely work with the mono version 1MGN-U.

Important

Different versions of the oCam firmware have different API, so they are not all compatible with this ROS node. I can confirm that the firwmare 1CGN-U_R1803_180404.img works on my device. Please update (or roll back) your firmware to this version.

Functionality

• Display Image and publish to ROS network, configure settings
• Use the ~show_image parameter to adjust brightness and exposure on the fly with keyboard shortcuts (similar to oCam linux examples).

Supported Image Formats

• USB 3.0
  • 8-bit Greyscale 1280 x 960 @ 45 fps
  • 8-bit Greyscale 1280 x 720 @ 60 fps
  • 8-bit Greyscale 640 x 480 @ 100 fps
  • 8-bit Greyscale 320 x 240 @ 160 fps
• USB 2.0
  • 8-bit Greyscale 1280 x 960 @ 22.5 fps
  • 8-bit Greyscale 1280 x 720 @ 30 fps
  • 8-bit Greyscale 640 x 480 @ 100 fps
  • 8-bit Greyscale 320 x 240 @ 160 fps

Installation

Install dependencies:

sudo apt install libudev-dev libv4l-dev

Compile the ROS package:

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/superjax/ocam_ros
cd ..
catkin_make

Running the Node

rosrun ocam_ros ocam_ros_node

For changing parameter values and topic remapping from the command line using rosrun refer to the Remapping Arguments page.

For setting parameters and topic remappings from a launch file, refer to the Roslaunch for Larger Projects page.

Parameters

• ~device_path (string, default: "/dev/video0")
  • Serial port to connect to
• ~frame_id (string, default: "camera")
  • Frame id of camera measurements
• ~camera_info_url (string, default: "")
  • Path to camera intrinsic parameters file
• ~width (int, default: 640)
  • Image width in pixels
• ~height (int, default: 480)
  • Image height in pixels
• ~fps (int, default: 80)
  • Camera frame rate
• ~color (bool, default: false)
  • Publish a color image (only if using 1CGN-U)
• ~image_topic (string, default: "image")
  • Image topic name
• ~show_image (bool, default: false)
  • Shows image and enables keyboard shortcuts to adjust image brightness and exposure
• ~rescale_camera_info (bool, default: false)
  • Whether or not rescale the camera intrinsics
• ~brightness (int, default: 64, min/max: 1/127)
  • Adjusts image brightness
• ~exposure (int, default: 39, min/max: 1/625)
  • Adjusts camera shutter speed
• ~auto_exposure (bool, default: true)
  • Whether or not to automatically adjust exposure

Topics

• camera/image(sensor_msgs/Image)
  • Image measurements from oCam

ToDo

• Finish documentation
• Adjusting rate of streaming and configuration on the fly with rqt_reconfigure