Imagery & Cameras

Image Formats

Cameras

Calibration in ROS (Monocular)

How to Calibrate a Monocular Camera

Useful Applications

guvcview

guvcview is a standardized camera interfacing application and is a great first step in making sure a uvc camera is functioning correctly.

ROS Interfaces

OpenCV

OpenCV is an all-in-one general purpose image processing library.

sudo apt install ros-kinetic-vision-opencv

Image Transport

Image Transport allows for smart and convenient handling of image streams and compressed images.

sudo apt install ros-kinetic-image-transport ros-kinetic-image-transport-plugins

Image Visualization

The RQT Image View Plugin allows for image streams to be viewed in RQT.

sudo apt install ros-kinetic-rqt-image-view

Camera Interfaces

TODO: Put this in a comparison table

• uvc_camera - Unsupported
• libuvc_camera - Unsupported
• usb_cam - Supports the widest range of cameras
• cv_camera
• video_stream_opencv - This is the best general purpose one to date
• raspicam_node - This is the only option for interfacing with the Raspberry Pi Camera