https://github.com/flexrobotics/roboflex_webcamuvc

Roboflex support for broadcasting rgb images from uvc (usb) compatible webcams.
https://github.com/flexrobotics/roboflex_webcamuvc

roboflex uvc webcam

Last synced: 6 months ago
JSON representation

Roboflex support for broadcasting rgb images from uvc (usb) compatible webcams.

• Host: GitHub
• URL: https://github.com/flexrobotics/roboflex_webcamuvc
• Owner: flexrobotics
• License: mit
• Created: 2023-10-19T21:25:13.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2023-12-09T23:34:14.000Z (over 1 year ago)
• Last Synced: 2024-10-13T16:10:36.069Z (7 months ago)
• Topics: roboflex, uvc, webcam
• Language: C++
• Homepage: https://github.com/flexrobotics/roboflex_webcamuvc
• Size: 23.4 KB
• Stars: 3
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# roboflex.webcam_uvc

Support for web cameras on linux - actually just a thin wrapper around libuvc, so if your camera supports libuvc, you should be good to go.

## System dependencies

    apt-get install libusb-1.0-0-dev

    apt-get install libjpeg-dev

    # ...or, on mac:

    brew install libusb

## pip install

    pip install roboflex.webcam_uvc

## Import

    import roboflex.webcam_uvc as rcw

## Nodes

There is only one: **WebcamSensor**

    # all parameters optional: below are the defaults

    webcam_sensor = rcw.WebcamSensor(

        width,

        height,

        fps,

        device_index = -1,

        format = UVC_FRAME_FORMAT_ANY,

        name = "WebcamSensor",

    )

    # must be started!

    webcam_sensor.start()

    # you can do this:

    webcam_sensor.print_device_info()

## Messages

    from roboflex.webcam_uvc import WebcamDataRGB

API:

    # the timestamp just before reading from device

    message.t0 -> Float

    # the timestamp just after reading from device

    message.t1 -> Float

    # the capture time from the device

    message.capture_time -> Float

    # the sequence number from the device

    message.sequence -> Int

    # numpy array of shape=(width, height, channels), dtype=short

    message.rgb -> np.ndarray

DYNOFLEX:

    # the timestamp just before reading from device

    message["t0"] -> Double

    # the timestamp just after reading from device

    message["t1"] -> Double

    # the capture time from the device

    message["t"] -> Double

    # the sequence number from the device

    message["s"] -> Double

    # numpy array of shape=(width, height, channels), dtype=short

    message["rgb"] -> np.ndarray

## Other

Description of a device:

    from roboflex.webcam_uvc import DeviceDescriptor

    dd.idVendor -> int

    dd.idProduct -> int

    dd.bcdUVC -> int

    dd.serialNumber -> str

    dd.manufacturer -> str

    dd.product -> str

    # you probably just want to print it:

    str(dd)

Free function: get list of connected devices (webcams) - list of DeviceDescriptor, above.

    get_device_list() -> [DeviceDescriptor]

Available frame formats: pass to constructor of WebcamSensor for the format parameter.

    from roboflex.webcam_uvc import uvc_frame_format

    uvc_frame_format.UVC_FRAME_FORMAT_ANY

    uvc_frame_format.UVC_FRAME_FORMAT_UNCOMPRESSED

    uvc_frame_format.UVC_FRAME_FORMAT_COMPRESSED

    # YUYV/YUV2/YUV422: YUV encoding with one luminance value per pixel and

    # one UV (chrominance) pair for every two pixels.

    uvc_frame_format.UVC_FRAME_FORMAT_YUYV

    uvc_frame_format.UVC_FRAME_FORMAT_UYVY

    # 24-bit RGB

    uvc_frame_format.UVC_FRAME_FORMAT_RGB

    uvc_frame_format.UVC_FRAME_FORMAT_BGR

    # Motion-JPEG (or JPEG) encoded images

    uvc_frame_format.UVC_FRAME_FORMAT_MJPEG

    uvc_frame_format.UVC_FRAME_FORMAT_H264

    # Greyscale images

    uvc_frame_format.UVC_FRAME_FORMAT_GRAY16

    uvc_frame_format.UVC_FRAME_FORMAT_GRAY8

    # Raw colour mosaic images

    uvc_frame_format.UVC_FRAME_FORMAT_BY8

    uvc_frame_format.UVC_FRAME_FORMAT_BA81

    uvc_frame_format.UVC_FRAME_FORMAT_SGRBG8

    uvc_frame_format.UVC_FRAME_FORMAT_SGBRG8

    uvc_frame_format.UVC_FRAME_FORMAT_SRGGB8

    uvc_frame_format.UVC_FRAME_FORMAT_SBGGR8

    # YUV420: NV12

    uvc_frame_format.UVC_FRAME_FORMAT_NV12

    # Number of formats understood

    uvc_frame_format.UVC_FRAME_FORMAT_COUNT

## Linux webcam help

Access denied to your webcam?

First, list your usb devices and find your webcam:

    lsusb

    

For me, I see:

    Bus 002 Device 025: ID 32e4:9230 HD USB Camera HD USB Camera

create a file called '50-usb-webcam.rules' in /etc/udev/rules.d with a single line:

    SUBSYSTEM=="usb", ATTR{idVendor}="HD USB Camera", ATTR{idProduct}="HD USB Camera", MODE="0666"

then

    udevadm control --reload-rules && udevadm trigger