Overview
The image_pipeline
stack is designed to process raw camera images
into useful inputs to vision algorithms: rectified mono/color images,
stereo disparity images, and stereo point clouds. Components include:
Calibration: Cameras must be calibrated in order to relate the images they produce to the three-dimensional world. The
camera_calibration
package provides tools to calibrate monocular and stereo cameras in your ROS system. The Camera Info page provides a detailed description of the parameters used by the pipeline.Monocular processing: The raw image stream can be piped through the
image_proc
node to remove camera distortion. The node also performs color interpolation for Bayer pattern color cameras.Stereo processing: The
stereo_image_proc
package performs the duties ofimage_proc
for a pair of cameras co-calibrated for stereo vision. It also uses stereo processing to produce disparity images and point clouds.Depth processing:
depth_image_proc
provides components for processing depth images (as produced by the Kinect, time-of-flight cameras, etc.), such as producing point clouds.Visualization: The
image_view
package provides a lightweight alternative torviz2
for viewing an image topic. It also includes astereo_view
tool for viewing stereo pairs and disparity images.