Although we have the two previous options, this section comes with its own USB camera driver implemented on top of OpenCV using the cv::VideoCapture class. It runs the camera and also allows you to change some of its parameters as long as they are supported by the camera's firmware. It also allows us to set the calibration information in the same way as with the FireWire cameras. With usb_cam, this is not possible because the CameraInfo message is not available. With regards to gscam, we have more control; we can change the camera configuration and see how to publish the camera's images and information in ROS. In order to implement a camera driver using OpenCV, we have two options on how we read ...
Making your own USB camera driver with OpenCV
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