virtual_camera
======================================================================
本ROS包允许将ROS图像消息发送到一个虚拟摄像头上
a ROS package for push ROS image messages into a virtual video device
======================================================================

注意： 本包只能够基于ROS Fuerte 运行， 关于ROS请访问: http://www.ros.org/
NOTICE: This package is only build for ROS Fuerte. visit http://www.ros.org/ for more information about ROS.

本包可以将你的图像消息(消息格式：sensor_msgs/Image)发送到一个由v4l2loopback建立的虚拟摄像头上。你可以使用以下命令运行本包:
This package allows you to passing image messages (sensor_msgs/Image message format) by using v4l2loopback, which can create "virtual video device". You can use this package as follows:

$ rosrun virtual_camera streamputer image:=<image topic> [\dev\video<id>]

其中：
which:
<image tipic> 重定向需要输入的图像消息(sensor_msgs/Image)
<image tipic> is the remaped image messages(sensor_msgs/Image)
[\dev\video<id>] 指定需要输出的设备，默认值定义在data/yuyv_camera.txt中
[\dev\video<id>] is the virtual device, which is created by v4l2loopback default device is defined in data/yuyv_camera.txt

你可意识用包中自带的脚本创建虚拟设备：
you can use build-in script to create a virtual device：

$ rosrun virtual_camera prerun.sh

这个脚本会创建一个虚拟设备并重写yuyv_camera.txt， 你需要使用管理员权限运行本脚本
This script will create a virtual device and rewrite yuyv_camera.txt. You need administrator rights to run the script.

在使用本包之前你需要安装v4l2loopback，详见：
You should install v4l2loopback before useing this package.visit:

https://github.com/umlaeute/v4l2loopback

虚拟摄像头参数：
Virtual video device information:

输出格式/Format：YUYV
画面宽度/Width：640
画面高度/High：480
单帧大小/bytes per frame：614400 字节(byte)

注意：所有的尺寸的图像消息(sensor_msgs/Image)都会重新定义为640*480
NOTICE: All sizes of image messages (sensor_msgs/Image) will resize to 640*480

--- 版权 ---
--- COPYING ---

Copyright (c) 2013 Zhiwei Chu

--- 问题 ---
--- ISSUES ---
这是我写的第一个开源软件，问题多多，还请指点！
This is my first published program. Please help me to improve!

测试系统/OS：Ubuntu 12.04 LTS
v4l2loopback版本/v4l2loopback version: 0.7.0

注意: Skype 或 luvcview 可能不支持老版本的v4l2loopback
NOTICE: Old versions of v4l2loopback may fail on Skype or luvcview