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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:


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

emersonknapp gravatar image

The package 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 Those values are slightly out of date, you can see at that is supports YUYV, UYVY, MJPEG, YUVMONO10, RGB24, GREY.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

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Last updated: Jul 17 '20