It is very easy to capture video device if we use cv::VideoCapture of OpenCV.

This is a modified cv_camera package, to allow vertical flipping of the video input to correct for the upside-down mounting of the Senz3D on one of our robots.

This node uses camera_info_manager for dealing with camera_info. If no calibration data is set, it has dummy values except for width and height.

• ~image_raw (sensor_msgs/Image)
• ~camera_info (sensor_msgs/CameraInfo)

• ~set_camera_info (sensor_msgs/SetCameraInfo)

• ~rate (double: default 30.0) publish rate [Hz].
• ~device_id (int: default 0) capture device id.
• ~frame_id (string: default "camera") frame_id of message header.
• ~image_width (int) try to set capture image width.
• ~image_height (int) try to set capture image height.
• ~camera_info_url (string) url of camera info yaml.
• ~file (string: default "") if not "" then use movie file instead of device.

This node works as nodelet (cv_camera/CvCameraNodelet).