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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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 Sánchez Sánchez
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Sánchez
 Fernandez Perdomo Fernandez Perdomo
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Fernandez Perdomo
 Mahtani Mahtani
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Mahtani
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Table of Contents (18) Chapters Close

Effective Robotics Programming with ROS Third Edition
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface
1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

Chapter 9. Computer Vision

ROS provides basic support for Computer Vision. First, drivers are available for different cameras and protocols, especially for FireWire (IEEE1394a or IEEE1394b) cameras. An image pipeline helps with the camera calibration process, distortion rectification, color decoding, and other low-level operations. For more complex tasks, you can use OpenCV and the cv_bridge and image_transport libraries to interface with it and subscribe and publish images on topics. Finally, there are several packages that implement algorithms for object recognition, augmented reality, visual odometry, and so on.

Although FireWire cameras are best integrated in ROS, it is not difficult to support other protocols, such as USB and Gigabit Ethernet. Since USB cameras are usually less expensive and easier to find, in this chapter we discuss several available options, and we will also provide a driver that integrates seamlessly in the image pipeline, using the OpenCV video capture API.

The camera...

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