# roboflex.webcam_uvc
Support for web cameras on linux - actually just a thin wrapper around libuvc, so if your camera supports libuvc, you should be good to go.
## System dependencies
apt-get install libusb-1.0-0-dev
apt-get install libjpeg-dev
# ...or, on mac:
brew install libusb
## pip install
pip install roboflex.webcam_uvc
## Import
import roboflex.webcam_uvc as rcw
## Nodes
There is only one: **WebcamSensor**
# all parameters optional: below are the defaults
webcam_sensor = rcw.WebcamSensor(
width,
height,
fps,
device_index = -1,
format = UVC_FRAME_FORMAT_ANY,
name = "WebcamSensor",
)
# must be started!
webcam_sensor.start()
# you can do this:
webcam_sensor.print_device_info()
## Messages
from roboflex.webcam_uvc import WebcamDataRGB
API:
# the timestamp just before reading from device
message.t0 -> Float
# the timestamp just after reading from device
message.t1 -> Float
# the capture time from the device
message.capture_time -> Float
# the sequence number from the device
message.sequence -> Int
# numpy array of shape=(width, height, channels), dtype=short
message.rgb -> np.ndarray
DYNOFLEX:
# the timestamp just before reading from device
message["t0"] -> Double
# the timestamp just after reading from device
message["t1"] -> Double
# the capture time from the device
message["t"] -> Double
# the sequence number from the device
message["s"] -> Double
# numpy array of shape=(width, height, channels), dtype=short
message["rgb"] -> np.ndarray
## Other
Description of a device:
from roboflex.webcam_uvc import DeviceDescriptor
dd.idVendor -> int
dd.idProduct -> int
dd.bcdUVC -> int
dd.serialNumber -> str
dd.manufacturer -> str
dd.product -> str
# you probably just want to print it:
str(dd)
Free function: get list of connected devices (webcams) - list of DeviceDescriptor, above.
get_device_list() -> [DeviceDescriptor]
Available frame formats: pass to constructor of WebcamSensor for the format parameter.
from roboflex.webcam_uvc import uvc_frame_format
uvc_frame_format.UVC_FRAME_FORMAT_ANY
uvc_frame_format.UVC_FRAME_FORMAT_UNCOMPRESSED
uvc_frame_format.UVC_FRAME_FORMAT_COMPRESSED
# YUYV/YUV2/YUV422: YUV encoding with one luminance value per pixel and
# one UV (chrominance) pair for every two pixels.
uvc_frame_format.UVC_FRAME_FORMAT_YUYV
uvc_frame_format.UVC_FRAME_FORMAT_UYVY
# 24-bit RGB
uvc_frame_format.UVC_FRAME_FORMAT_RGB
uvc_frame_format.UVC_FRAME_FORMAT_BGR
# Motion-JPEG (or JPEG) encoded images
uvc_frame_format.UVC_FRAME_FORMAT_MJPEG
uvc_frame_format.UVC_FRAME_FORMAT_H264
# Greyscale images
uvc_frame_format.UVC_FRAME_FORMAT_GRAY16
uvc_frame_format.UVC_FRAME_FORMAT_GRAY8
# Raw colour mosaic images
uvc_frame_format.UVC_FRAME_FORMAT_BY8
uvc_frame_format.UVC_FRAME_FORMAT_BA81
uvc_frame_format.UVC_FRAME_FORMAT_SGRBG8
uvc_frame_format.UVC_FRAME_FORMAT_SGBRG8
uvc_frame_format.UVC_FRAME_FORMAT_SRGGB8
uvc_frame_format.UVC_FRAME_FORMAT_SBGGR8
# YUV420: NV12
uvc_frame_format.UVC_FRAME_FORMAT_NV12
# Number of formats understood
uvc_frame_format.UVC_FRAME_FORMAT_COUNT
## Linux webcam help
Access denied to your webcam?
First, list your usb devices and find your webcam:
lsusb
For me, I see:
Bus 002 Device 025: ID 32e4:9230 HD USB Camera HD USB Camera
create a file called '50-usb-webcam.rules' in /etc/udev/rules.d with a single line:
SUBSYSTEM=="usb", ATTR{idVendor}="HD USB Camera", ATTR{idProduct}="HD USB Camera", MODE="0666"
then
udevadm control --reload-rules && udevadm trigger
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"description": "# roboflex.webcam_uvc\n\nSupport for web cameras on linux - actually just a thin wrapper around libuvc, so if your camera supports libuvc, you should be good to go.\n\n## System dependencies\n\n apt-get install libusb-1.0-0-dev\n apt-get install libjpeg-dev\n\n # ...or, on mac:\n\n brew install libusb\n\n## pip install\n\n pip install roboflex.webcam_uvc\n\n## Import\n\n import roboflex.webcam_uvc as rcw\n\n## Nodes\n\nThere is only one: **WebcamSensor**\n\n # all parameters optional: below are the defaults\n webcam_sensor = rcw.WebcamSensor(\n width,\n height,\n fps,\n device_index = -1,\n format = UVC_FRAME_FORMAT_ANY,\n name = \"WebcamSensor\",\n )\n\n # must be started!\n webcam_sensor.start()\n\n # you can do this:\n webcam_sensor.print_device_info()\n\n## Messages\n\n from roboflex.webcam_uvc import WebcamDataRGB\n\nAPI:\n\n # the timestamp just before reading from device\n message.t0 -> Float\n\n # the timestamp just after reading from device\n message.t1 -> Float\n\n # the capture time from the device\n message.capture_time -> Float\n\n # the sequence number from the device\n message.sequence -> Int\n\n # numpy array of shape=(width, height, channels), dtype=short\n message.rgb -> np.ndarray\n\nDYNOFLEX:\n\n # the timestamp just before reading from device\n message[\"t0\"] -> Double\n\n # the timestamp just after reading from device\n message[\"t1\"] -> Double\n\n # the capture time from the device\n message[\"t\"] -> Double\n\n # the sequence number from the device\n message[\"s\"] -> Double\n\n # numpy array of shape=(width, height, channels), dtype=short\n message[\"rgb\"] -> np.ndarray\n\n\n## Other\n\n\nDescription of a device:\n\n from roboflex.webcam_uvc import DeviceDescriptor\n\n dd.idVendor -> int\n dd.idProduct -> int\n dd.bcdUVC -> int\n dd.serialNumber -> str\n dd.manufacturer -> str\n dd.product -> str\n\n # you probably just want to print it:\n str(dd)\n\n\nFree function: get list of connected devices (webcams) - list of DeviceDescriptor, above.\n\n get_device_list() -> [DeviceDescriptor]\n\nAvailable frame formats: pass to constructor of WebcamSensor for the format parameter.\n\n from roboflex.webcam_uvc import uvc_frame_format\n\n uvc_frame_format.UVC_FRAME_FORMAT_ANY\n uvc_frame_format.UVC_FRAME_FORMAT_UNCOMPRESSED\n uvc_frame_format.UVC_FRAME_FORMAT_COMPRESSED\n\n # YUYV/YUV2/YUV422: YUV encoding with one luminance value per pixel and\n # one UV (chrominance) pair for every two pixels.\n uvc_frame_format.UVC_FRAME_FORMAT_YUYV\n uvc_frame_format.UVC_FRAME_FORMAT_UYVY\n\n # 24-bit RGB\n uvc_frame_format.UVC_FRAME_FORMAT_RGB\n uvc_frame_format.UVC_FRAME_FORMAT_BGR\n\n # Motion-JPEG (or JPEG) encoded images\n uvc_frame_format.UVC_FRAME_FORMAT_MJPEG\n uvc_frame_format.UVC_FRAME_FORMAT_H264\n\n # Greyscale images\n uvc_frame_format.UVC_FRAME_FORMAT_GRAY16\n uvc_frame_format.UVC_FRAME_FORMAT_GRAY8\n\n # Raw colour mosaic images\n uvc_frame_format.UVC_FRAME_FORMAT_BY8\n uvc_frame_format.UVC_FRAME_FORMAT_BA81\n uvc_frame_format.UVC_FRAME_FORMAT_SGRBG8\n uvc_frame_format.UVC_FRAME_FORMAT_SGBRG8\n uvc_frame_format.UVC_FRAME_FORMAT_SRGGB8\n uvc_frame_format.UVC_FRAME_FORMAT_SBGGR8\n\n # YUV420: NV12\n uvc_frame_format.UVC_FRAME_FORMAT_NV12\n\n # Number of formats understood\n uvc_frame_format.UVC_FRAME_FORMAT_COUNT\n\n\n## Linux webcam help\n\nAccess denied to your webcam?\n\nFirst, list your usb devices and find your webcam:\n\n lsusb\n \nFor me, I see:\n\n Bus 002 Device 025: ID 32e4:9230 HD USB Camera HD USB Camera\n\ncreate a file called '50-usb-webcam.rules' in /etc/udev/rules.d with a single line:\n\n SUBSYSTEM==\"usb\", ATTR{idVendor}=\"HD USB Camera\", ATTR{idProduct}=\"HD USB Camera\", MODE=\"0666\"\n\nthen\n\n udevadm control --reload-rules && udevadm trigger\n\n",
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