Although we have the two options previously mentioned, this book comes with its own USB camera driver, implemented on top of OpenCV, using the
cv::VideoCapture class. It runs the camera and also allows changing some of its parameters, as long as they are supported. This is very simple and it allows setting the calibration information in the same way as with FireWire cameras. Indeed, with
usb_cam this is not possible because the
CameraInfo message is not available. Hence,
params/usb_cam/logitech.yaml the camera_info_url is not set in the parameters file. With regard to
gscam, we will have more control.
We can change the camera configuration and also see how to publish the camera images and information ...