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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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The ROS image pipeline

The ROS image pipeline is run with the image_proc package. It provides all the conversion utilities to obtain monochrome and color images from the RAW images acquired from the camera. In the case of FireWire cameras, which may use a Bayer pattern to code the images (actually in the sensor itself), it de-Bayers them to obtain the color images. Once you have calibrated your camera, the image pipeline takes the CameraInfo messages, which contain the de-Bayered pattern information, and rectifies your images. Here, rectifies means to undistort the images, so it takes the coefficients of the distortion model to correct the radial and tangential distortion.

As a result, you will see more topics for your camera in its namespace. ...

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