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V4L2 Ros Kinetic Camera Node

asked 2020-07-17 12:29:27 -0500

ProbablyHuman gravatar image

updated 2020-07-17 12:30:39 -0500

I have a camera module that exposes a standard V4L2 interface, that produces either V4L2_PIX_FMT_Y10 or V4L2_PIX_FMT_Y10P (10 bit mono formats).

Is there a recommended way to pull those images into ROS? (For reference it's an Omnivision OV7251 on a Raspberry Pi 3A+ running raspian stretch and ROS kinetic). Id like to publish the images to a topic as a sensor_msgs/Image message.

Links to the format in question:

(https://www.kernel.org/doc/html/lates... https://www.kernel.org/doc/html/lates...)

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answered 2020-07-17 12:53:35 -0500

emersonknapp gravatar image

The package usb_cam http://wiki.ros.org/usb_cam should work fine for your V4L2 device.

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dont the docs say the only supported formats are mjpeg, yuyv, and uyvy? i need Y10/Y10P

~pixel_format (string, default: "mjpeg")
     Possible values are mjpeg, yuyv, uyvy
ProbablyHuman gravatar image ProbablyHuman  ( 2020-07-17 13:05:32 -0500 )edit

ah, yes, you're right that it doesn't handle your format yet. Those values are slightly out of date, you can see at https://github.com/ros-drivers/usb_ca... that is supports YUYV, UYVY, MJPEG, YUVMONO10, RGB24, GREY. If you're building from source, it shouldn't be too hard to add a new pixel format, and I'm sure the maintainers would appreciate a pull request.

emersonknapp gravatar image emersonknapp  ( 2020-07-17 17:26:03 -0500 )edit

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Asked: 2020-07-17 12:29:27 -0500

Seen: 346 times

Last updated: Jul 17 '20