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comms](https://index.ros.org//doc/ros2/Tutorials/Intra-Process-Communication/).\n\nRequires [ROS2](https://index.ros.org/doc/ros2/Installation/) and\n`ros-$ROS_DISTRO-camera-calibration-parsers`.\nBuilds for ROS2 Foxy, Galactic, Humble and Iron.\n\n## Install and build\n\n~~~\nmkdir ~/ros2/opencv_cam_ws/src\ncd ~/ros2/opencv_cam_ws/src\ngit clone https://github.com/clydemcqueen/opencv_cam.git\ngit clone https://github.com/ptrmu/ros2_shared.git\ncd ~/ros2/opencv_cam_ws/\nsource /opt/ros/$ROS_DISTRO/setup.bash\ncolcon build\n~~~\n\n## Usage\n\nDefault is to publish images from `/dev/video0`:\n~~~\nros2 run opencv_cam opencv_cam_main\n~~~\n\nA more complex example:\n~~~\nros2 run opencv_cam opencv_cam_main --ros-args --remap /image_raw:=/my_camera/image_raw --params-file opencv_cam_params.yaml\n~~~\n... where opencv_cam_params.yaml is:\n~~~\n/opencv_cam:\n  ros__parameters:\n    file: True\n    filename: 'my_camera.MOV'\n    camera_info_path: 'my_camera_info.ini'\n    camera_frame_id: 'my_camera'\n~~~\n\n### Intra-process comms\n\nIPC test -- CLI composition:\n~~~\n# First shell\nros2 run rclcpp_components component_container\n\n# Second shell (ignore the deprecation warning, see https://github.com/ros2/ros2cli/issues/336)\nros2 component load /ComponentManager opencv_cam opencv_cam::ImageSubscriberNode -e use_intra_process_comms:=true\nros2 component load /ComponentManager opencv_cam opencv_cam::OpencvCamNode -e use_intra_process_comms:=true\n~~~\n\nLaunch file composition:\n~~~\nros2 launch opencv_cam composition_launch.py\n~~~\n\nManual composition -- handy for debugging:\n~~~\nros2 run opencv_cam ipc_test_main\n~~~\n\n## Parameters\n\n| Parameter | Type | Default | Notes |\n|---|---|---|---|\n| file | bool | False | Read from file vs. read from device |\n| fps | int | 0 | Framerate. Specify 0 to publish at the recorded (file) or default (device) framerate  |\n| filename | string | \"\" | Filename, ignored if file is False |\n| index | int | 0 | Device index, 0 for /dev/video0. Ignored if file is True |\n| width | int | 0 | Device width in pixels. Specify 0 for default. Ignored if file is True |\n| height | int | 0 | Device width in pixels. Specify 0 for default. Ignored if file is True |\n| camera_info_path | string | \"info.ini\" | Camera info path |\n| camera_frame | string | \"camera_frame\" | Camera frame id |\n\n## Camera info file formats\n\nUses the [ROS standard camera calibration formats](http://wiki.ros.org/camera_calibration_parsers).\nFiles must end in `.ini` or `.yaml`.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fclydemcqueen%2Fopencv_cam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fclydemcqueen%2Fopencv_cam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fclydemcqueen%2Fopencv_cam/lists"}