Docker image for https://gitlab.com/boldhearts/ros2_v4l2_camera
- List cameras
$ v4l2-ctl --list-devices
Logitech Webcam C930e (usb-0000:00:14.0-1):
/dev/video2
/dev/video3
/dev/media1
Integrated Camera: Integrated C (usb-0000:00:14.0-6):
/dev/video0
/dev/video1
/dev/media0- Get formats from choosen camera:
$ v4l2-ctl --device=/dev/video2 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Type: Video Capture
[0]: 'YUYV' (YUYV 4:2:2)
Size: Discrete 640x480
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.042s (24.000 fps)
Interval: Discrete 0.050s (20.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.100s (10.000 fps)
Interval: Discrete 0.133s (7.500 fps)
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.200s (5.000 fps)
Size: Discrete 320x240
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.042s (24.000 fps)
Interval: Discrete 0.050s (20.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.100s (10.000 fps)
Interval: Discrete 0.133s (7.500 fps)
Interval: Discrete 0.200s (5.000 fps)
Size: Discrete 1920x1080
Interval: Discrete 0.200s (5.000 fps)
[1]: 'MJPG' (Motion-JPEG, compressed)
Size: Discrete 640x480
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.042s (24.000 fps)
Interval: Discrete 0.050s (20.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.100s (10.000 fps)
Interval: Discrete 0.133s (7.500 fps)
Interval: Discrete 0.200s (5.000 fps)
Size: Discrete 320x240
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.042s (24.000 fps)
Interval: Discrete 0.050s (20.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.100s (10.000 fps)
Interval: Discrete 0.133s (7.500 fps)
Interval: Discrete 0.200s (5.000 fps)
Size: Discrete 1920x1080
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.042s (24.000 fps)
Interval: Discrete 0.050s (20.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.100s (10.000 fps)
Interval: Discrete 0.133s (7.500 fps)
Interval: Discrete 0.200s (5.000 fps)- List camera controls
$ v4l2-ctl --device=/dev/video2 --list-ctrls
User Controls
brightness 0x00980900 (int) : min=0 max=255 step=1 default=128 value=128
contrast 0x00980901 (int) : min=0 max=255 step=1 default=128 value=128
saturation 0x00980902 (int) : min=0 max=255 step=1 default=128 value=128
white_balance_automatic 0x0098090c (bool) : default=1 value=1
gain 0x00980913 (int) : min=0 max=255 step=1 default=0 value=0
power_line_frequency 0x00980918 (menu) : min=0 max=2 default=2 value=2 (60 Hz)
white_balance_temperature 0x0098091a (int) : min=2000 max=7500 step=1 default=4000 value=6500 flags=inactive
sharpness 0x0098091b (int) : min=0 max=255 step=1 default=128 value=128
backlight_compensation 0x0098091c (int) : min=0 max=1 step=1 default=0 value=0
Camera Controls
auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=3 (Aperture Priority Mode)
exposure_time_absolute 0x009a0902 (int) : min=3 max=2047 step=1 default=250 value=333 flags=inactive
exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0
pan_absolute 0x009a0908 (int) : min=-36000 max=36000 step=3600 default=0 value=0
tilt_absolute 0x009a0909 (int) : min=-36000 max=36000 step=3600 default=0 value=0
focus_absolute 0x009a090a (int) : min=0 max=255 step=5 default=0 value=0 flags=inactive
focus_automatic_continuous 0x009a090c (bool) : default=1 value=1
zoom_absolute 0x009a090d (int) : min=100 max=400 step=1 default=100 value=100- Get device information:
$ v4l2-ctl --device=/dev/video2 --info
Driver Info:
Driver name : uvcvideo
Card type : Logitech Webcam C930e
Bus info : usb-0000:00:14.0-1
Driver version : 6.2.16
Capabilities : 0x84a00001
Video Capture
Metadata Capture
Streaming
Extended Pix Format
Device Capabilities
Device Caps : 0x04200001
Video Capture
Streaming
Extended Pix Format
Media Driver Info:
Driver name : uvcvideo
Model : Logitech Webcam C930e
Serial : EFFBDA7F
Bus info : usb-0000:00:14.0-1
Media version : 6.2.16
Hardware revision: 0x00000013 (19)
Driver version : 6.2.16
Interface Info:
ID : 0x03000002
Type : V4L Video
Entity Info:
ID : 0x00000001 (1)
Name : Logitech Webcam C930e
Function : V4L2 I/O
Flags : default
Pad 0x01000007 : 0: Sink
Link 0x02000022: from remote pad 0x100000a of entity 'Processing 3' (Video Pixel Formatter): Data, Enabled, Immutable- Perform the calibration
cd demo
docker compose -f compose.calibration.yaml upAfter ~15 seconds you should see the calibration app. Print the checkerboard interior vertex points “8x10”
Show it to the camera, and after "Calibrate" button is active click it, and then "Save" button. The calibration data will be available under demo/calibration/calibrationdata.tar.gz file. Unpack it, rename the file ost.yaml to camera_name.yaml and bind it as a volume in compose.yaml (ranme also camera_name field)
- Run the image:
cd demo/
docker compose up