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Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Author: Maintained by Patrick Mihelich/mihelich@willowgarage.com
- License: BSD
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/branches/image_pipeline-1.6
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Author: Maintained by Vincent Rabaud vrabaud@willowgarage.com
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: fuerte-devel)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: groovy-devel)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: hydro-devel)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: developed
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>, Steven Macenski <stevenmacenski AT gmail DOT com>, Autonomoustuff team <software AT autonomoustuff DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: melodic)
Package Summary
image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>, Autonomoustuff team <software AT autonomoustuff DOT com>
- Author: Patrick Mihelich, James Bowman
- License: BSD
- Bug / feature tracker: https://github.com/ros-perception/image_pipeline/issues
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: noetic)
New source for Groovy and above development: git https://github.com/ros-perception/image_pipeline
Contents
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. A CameraInfo wiki 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 node performs the duties of image_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 nodelets 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 to rviz for viewing an image topic. It also includes a stereo_view tool for viewing stereo pairs and disparity images.
Hardware Requirements
The image pipeline will work with any conforming ROS camera driver node. See camera_drivers for cameras already supported in ROS. The minimal requirements for such a node are:
Generic camera node
Published Topics
image_raw (sensor_msgs/Image)- The unprocessed image data.
- Contains the camera calibration (if calibrated) and extra data about the camera configuration.
Services
set_camera_info (sensor_msgs/SetCameraInfo)- Used by camera_calibration to save the calibration parameters.
Camera drivers normally have parameters (exposure, gain, etc.) that you can configure at runtime. stereo_image_proc has runtime-configurable stereo processing parameters of its own. The rqt_reconfigure is useful for tweaking your configuration to get best results.
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