added video_stream_opencv package for use with the ar tags

src/video_stream_opencv/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package video_stream_opencv
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.2 (2016-11-14)
+------------------
+
+1.0.1 (2016-11-14)
+------------------
+* Releasable version
+* Contributors: Sammy Pfeiffer, Stefano Probst, Wiebe Van Ranst

src/video_stream_opencv/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(video_stream_opencv)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  cv_bridge
+  image_transport
+  camera_info_manager
+  sensor_msgs
+)
+
+
+find_package(OpenCV)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+add_executable(video_stream src/video_stream.cpp)
+target_link_libraries(video_stream ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+install(TARGETS video_stream
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(PROGRAMS
+  scripts/test_video_resource.py
+
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

src/video_stream_opencv/README.md

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+A package to view video streams based on the [OpenCV VideoCapture module](http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#videocapture), easy way to publish on a ROS Image topic (including camera info) usb cams, ethernet cameras, video streams or video files. It also supports flipping of images.
+
+![Screenshot of the plugin working with a webcam, video stream and video file](https://raw.githubusercontent.com/pal-robotics/video_stream_opencv/master/screenshot_usage.png)
+
+Example usages in launch folder (**only the argument `video_stream_provider` is mandatory**):
+
+```xml
+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+        <!-- node name and ros graph name -->
+        <arg name="camera_name" value="webcam" />
+        <!-- means video device 0, /dev/video0 -->
+        <arg name="video_stream_provider" value="0" />
+        <!-- throttling the querying of frames to -->
+        <arg name="fps" value="30" />
+        <!-- setting frame_id -->
+        <arg name="frame_id" value="webcam" />
+        <!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+        "file:///$(find your_camera_package)/config/your_camera.yaml" -->
+        <arg name="camera_info_url" value="" />
+        <!-- flip the image horizontally (mirror it) -->
+        <arg name="flip_horizontal" value="false" />
+        <!-- flip the image vertically -->
+        <arg name="flip_vertical" value="false" />
+        <!-- force a width and height, 0 means no forcing -->
+        <arg name="width" value="640"/>
+        <arg name="height" value="480"/>
+        <!-- visualize on an image_view window the stream generated -->
+        <arg name="visualize" value="true" />
+   </include>
+</launch>
+```
+
+Based on the ROS [tutorial to convert opencv images to ROS messages](http://wiki.ros.org/image_transport/Tutorials/PublishingImages).
+
+===
+
+You can use any input that OpenCV on your system accepts, e.g.:
+
+* Video devices that appear in linux as /dev/videoX, e.g.: USB webcams appearing as /dev/video0
+
+* Video streamings, e.g.: rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
+
+* Video files, anything you can play, e.g.: myvideo.avi
+
+* Etc.
+
+===
+
+In the scripts folder you'll find `test_video_resource.py` which you can use to test if your system
+installation can use this node to open your video stream (not using any ROS). Just do any of those:
+
+    ./test_video_resource.py 0
+    ./test_video_resource.py rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov
+    ./test_video_resource.py /home/youruser/myvideo.mkv
+
+And you'll see an output like:
+
+    Trying to open resource: /dev/video0
+    Correctly opened resource, starting to show feed.
+
+With an OpenCV image show window showing the stream (which should close when pressing ESC, or Control+C the shell).
+

src/video_stream_opencv/config/test_calibration.yaml

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+image_width: 1280
+image_height: 960
+camera_name: "0800461000822014"
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [2302.59, 0, 610.756, 0, 2309.46, 506.539, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.225495, -0.363048, -0.000477994, -0.000132753, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [2302.59, 0, 610.756, 0, 0, 2309.46, 506.539, 0, 0, 0, 1, 0]

src/video_stream_opencv/launch/camera.launch

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+<launch>
+  	<arg name="camera_name" default="camera" />
+  	<!-- video_stream_provider can be a number as a video device or a url of a video stream -->
+  	<arg name="video_stream_provider" default="0" />
+  	<!-- frames per second to query the camera for -->
+  	<arg name="fps" default="30" />
+  	<!-- frame_id for the camera -->
+  	<arg name="frame_id" default="$(arg camera_name)" />
+  	<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml
+  	To use your own fill this arg with the corresponding url, e.g.:
+  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+    <arg name="camera_info_url" default="" />
+  	<!-- flip the image horizontally (mirror it) -->
+  	<arg name="flip_horizontal" default="false" />
+  	<!-- flip the image vertically -->
+  	<arg name="flip_vertical" default="false" />
+    <!-- force width and height, 0 means no forcing -->
+    <arg name="width" default="0"/>
+    <arg name="height" default="0"/>
+  	<!-- if show a image_view window subscribed to the generated stream -->
+	<arg name="visualize" default="false"/>
+
+
+   	<!-- images will be published at /camera_name/image with the image transports plugins (e.g.: compressed) installed -->
+   	<group ns="$(arg camera_name)">
+	    <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen"> 
+	    	<remap from="camera" to="image_raw" />
+	    	<param name="camera_name" type="string" value="$(arg camera_name)" />
+	        <param name="video_stream_provider" type="string" value="$(arg video_stream_provider)" />
+	        <param name="fps" type="int" value="$(arg fps)" />
+	        <param name="frame_id" type="string" value="$(arg frame_id)" />
+	        <param name="camera_info_url" type="string" value="$(arg camera_info_url)" />
+	        <param name="flip_horizontal" type="bool" value="$(arg flip_horizontal)" />
+	        <param name="flip_vertical" type="bool" value="$(arg flip_vertical)" />
+	        <param name="width" type="int" value="$(arg width)" />
+	        <param name="height" type="int" value="$(arg height)" />
+	    </node>
+
+	    <node if="$(arg visualize)" name="$(arg camera_name)_image_view" pkg="image_view" type="image_view">
+	    	<remap from="image" to="image_raw" />
+	    </node>
+	</group>
+
+</launch>

src/video_stream_opencv/launch/mjpg_stream.launch

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+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="axis_videocap" />
+	  	<!-- url of the video stream -->
+	  	<arg name="video_stream_provider" value="http://10.68.0.6/mjpg/video.mjpg" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="axis_optical_frame" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+	  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+	  	<arg name="camera_info_url" value="" />
+	  	<!-- flip the image horizontally (mirror it) -->
+	  	<arg name="flip_horizontal" value="false" />
+	  	<!-- flip the image vertically -->
+	  	<arg name="flip_vertical" value="false" />
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="false" />
+   </include>
+</launch>

src/video_stream_opencv/launch/rtsp_stream.launch

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+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="rtsp" />
+	  	<!-- url of the video stream -->
+	  	<arg name="video_stream_provider" value="rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="rtsp_frame" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+	  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+	  	<arg name="camera_info_url" value="" />
+	  	<!-- flip the image horizontally (mirror it) -->
+	  	<arg name="flip_horizontal" value="false" />
+	  	<!-- flip the image vertically -->
+	  	<arg name="flip_vertical" value="false" />
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="true" />
+   </include>
+</launch>

src/video_stream_opencv/launch/test_camera_info.launch

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+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="rtsp" />
+	  	<!-- url of the video stream -->
+	  	<arg name="video_stream_provider" value="rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="rtsp" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:-->
+	  	<arg name="camera_info_url" value="file:///$(find video_stream_opencv)/config/test_calibration.yaml"/>
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="true" />
+   </include>
+</launch>

src/video_stream_opencv/launch/video_file.launch

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+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="videofile" />
+	  	<!-- full path to the video file -->
+	  	<arg name="video_stream_provider" value="/home/sampfeiffer/Videos/REEM_grasping.mp4" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="videofile_frame" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+	  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+	  	<arg name="camera_info_url" value="" />
+	  	<!-- flip the image horizontally (mirror it) -->
+	  	<arg name="flip_horizontal" value="false" />
+	  	<!-- flip the image vertically -->
+	  	<arg name="flip_vertical" value="false" />
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="true" />
+   </include>
+</launch>

src/video_stream_opencv/launch/webcam.launch

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+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="webcam" />
+	  	<!-- means video device 0, /dev/video0 -->
+	  	<arg name="video_stream_provider" value="0" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="webcam_optical_frame" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+	  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+	  	<arg name="camera_info_url" value="" />
+	  	<!-- flip the image horizontally (mirror it) -->
+	  	<arg name="flip_horizontal" value="false" />
+	  	<!-- flip the image vertically -->
+	  	<arg name="flip_vertical" value="false" />
+		<!-- force width and height, 0 means no forcing -->
+	    <!-- 
+	    <arg name="width" value="0"/>
+	    <arg name="height" value="0"/>
+		-->
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="true" />
+   </include>
+</launch>

src/video_stream_opencv/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>video_stream_opencv</name>
+  <version>1.0.2</version>
+
+  <description>
+    The video_stream_opencv package contains a node to publish a video stream (the protocols that
+    opencv supports are supported, including rtsp, webcams on /dev/video and video files) in ROS image topics, it supports camera info and basic image flipping (horizontal, vertical or both) capabilities.
+  </description>
+
+  <maintainer email="[email protected]">Sammy Pfeiffer</maintainer>
+  <author>Sammy Pfeiffer</author>
+
+  <url type="website">http://www.ros.org/wiki/video_stream_opencv</url>
+  <url type="development">https://github.com/ros-drivers/video_stream_opencv</url>
+  <url type="bugtracker">https://github.com/ros-drivers/video_stream_opencv/issues</url>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>camera_info_manager</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>camera_info_manager</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+</package>