https://github.com/ar-ray-code/picamera_ros2
PiCamera wrapper using libcamera (for pi camera module v3)
https://github.com/ar-ray-code/picamera_ros2
raspberry-pi ros2
Last synced: 6 months ago
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PiCamera wrapper using libcamera (for pi camera module v3)
- Host: GitHub
- URL: https://github.com/ar-ray-code/picamera_ros2
- Owner: Ar-Ray-code
- License: bsd-2-clause
- Created: 2022-05-21T08:04:59.000Z (over 3 years ago)
- Default Branch: jazzy
- Last Pushed: 2025-06-03T10:48:12.000Z (8 months ago)
- Last Synced: 2025-06-03T22:16:37.694Z (8 months ago)
- Topics: raspberry-pi, ros2
- Language: C++
- Homepage:
- Size: 60.5 KB
- Stars: 16
- Watchers: 2
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# picamera_ros2
PiCamera wrapper using libcamera (RasPi-CSI2)
## Depends (Development environment)
- Raspberry Pi Bookworm (64bit)
- [libcamera-dev 0.5.0](https://github.com/raspberrypi/libcamera) `sudo apt install libcamera-dev`
- [ROS2-Jazzy](https://github.com/Ar-Ray-code/rpi-bullseye-ros2)
- OpenCV4
- libboost
```bash
sudo apt install build-essential cmake git libcamera-dev libopencv-dev libdrm-dev libboost-dev libboost-program-options-dev python3-typeguard
```
### building libcamera
[URL](https://www.raspberrypi.com/documentation/accessories/camera.html#building-libcamera)
## Usage
```bash
source /opt/ros/jazzy/setup.bash
git clone https://github.com/Ar-Ray-code/picamera_ros2.git ~/ros2_ws/src/picamera_ros2
cd ~/ros2_ws
vcs import ./src < ./src/picamera_ros2/generate_parameter_library.repos
colcon build
```
## Topic
### Publish
- image_raw (sensor_msgs/msg/Image)
## Parameter
- [picamera_parameters.yaml](picamera_param/src/picamera_parameters.yaml),
## Context (by kbarni)
In Raspbian Bullseye, the Raspberry Pi camera framework was completely rebased from MMAL to the libcamera library - thus breaking most of the previous camera dependencies.
Raspbian comes with the handy libcamera-apps package that duplicates the old raspistill and raspivid applications, with some added functionnality, like the possibility of adding postprocessing routines to the capturing process.
However this is still limited, as it doesn't allow full integration of the camera in your software.
LCCV aims to provide a simple to use wrapper library that allows you to access the camera from a C++ program and capture images in cv::Mat format.
## License
BSD 2-Clause License (Raspberry Pi)
## Reference
- [LCCV](https://github.com/kbarni/LCCV) by kbarni
- [libcamera-apps](https://github.com/raspberrypi/libcamera-apps) by raspberrypi