daheng4ros

ROS2 driver for Daheng Imaging VEN-U3 Board Level Series cameras — simple image publisher with realtime parameter reconfiguration, basic image enhancements, and optional undistortion using camera calibration parameters.

---

Table of contents

• daheng4ros
  • Table of contents
• Features
• Requirements
• Parameters
• Installation & build
• Running
• Contributing
• License

---

Features

• Use enhancements (contrast, brightness, sharpen).
• Publish sensor_msgs/Image on a configurable topic using image_transport.
• Runtime adjustable parameters: exposure, gain, fps, brightness, contrast, sharpness, resolution.
• Optional undistortion using K (camera matrix) and D (distortion coeffs).
• Simple C++ API wrapper for the camera (class sdk_daheng::Camera) with thread-based acquisition and functional-style callback.

---

Requirements

• ROS 2 Jazzy
• C++17
• Daheng Imaging SDK installed on the host (GxIAPI)
• OpenCV (>=3.4 recommended) and cv_bridge.

Note: The Daheng SDK (GxIAPI) is proprietary and must be installed separately according to Daheng's instructions. Ensure the required libraries are discoverable by your linker (LD_LIBRARY_PATH or system install).

---

---

Parameters

ros__parameters:
  camera_frame: "daheng_cam" # default
  camera_topic: "daheng/image" # default
  fps: 60
  exposure: 10000.0
  gain: 20.0
  width: 640
  height: 480
  brightness: 150 # -150~150
  contrast: 100 # -50~100
  sharpness: 0.5 # 0.1~5.0
  # uncomment the following with your parameters to publish undistorted image
  # K: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
  # D: [k1, k2, p1, p2, k3]

---

Installation & build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/vdovetzi/daheng4ros.git
cd ~/ros2_ws
rosdep install -y --from-path src/
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

---

Running

ros2 launch daheng4ros image_publisher.launch.py

or directly:

ros2 run daheng4ros image_publisher --ros-args --params-file config/params.yaml

View images:

ros2 run rqt_image_view rqt_image_view

---

Contributing

Pull requests and Issues are welcome!

---

License

MIT License © 2025