Class CameraNode

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class CameraNode : public rclcpp::Node

Node which captures images from a camera using OpenCV and publishes them. Images are annotated with this process’s id as well as the message’s ptr.

Public Functions

inline explicit CameraNode(const std::string &output, const std::string &node_name = "camera_node", bool watermark = true, int device = 0, int width = 320, int height = 240)

Construct a new CameraNode object for capturing video.

Parameters

  • output – The output topic name to use

  • node_name – The node name to use

  • watermark – Whether to add a watermark to the image before publishing

  • device – Which camera device to use

  • width – What video width to capture at

  • height – What video height to capture at

inline ~CameraNode()
inline void loop()

Capture and publish data until the program is closed.