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A hardware abstraction component for Camera's.
This component dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::Image. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers.
CameraServer.Config.Offset(Frame3d) [m, deg]
ImageFormat is a string. This means that you can easily send your data in whatever format you choose. It is assumed the default opencv driver is good enough in most cases and in special cases a custom driver can be written.
ImageWidth and ImageHeight are sanity checked and an exception is thrown if they do not match the default capture values OpenCV gets with the cvcamera driver.
Individual cameras have different options, different formats, and sometimes even their own unusual requirements. It was therefore thought by the author of this interface that it would be more beneficial to have the very basic framework and interface for sending data defined with maximum flexibility in mind given to driver writters. The cvcamera, image, and fake drivers should suffice for most robotics needs in all other cases.
In order for the logger and viewer to properly show your custom image format (should you have one) you need to write a conversion plugin if one doesn't exist already. It should convert to a common variation of RGBA such as BGR8, BGRA8, RGBA8, RGB8 for color logging/viewing or GRAY8 for grayscale logging and viewing.
The camera intrinsic parameters are assumed to use so-called pinhole camera model. As such the camera is modelled with a x,y focal lengths the x,y principle point and 4 distortion parameters (k1, k2 are radial distortion coefficients, p1, p2 are tangential distortion coefficients). These coefficients are explained in detail in the OpenCV reference guide for camera camlibration and Matlab Camera Calibration Toolbox.
1. First check the ImageServer Troubleshooting guide.
Alex Brooks, Tom Burdick, Tobias Kaupp, Alex Makarenko
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)