A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 6

Using Cameras in ROS

CONTENTS

6.1 Projective transformation into camera coordinates

6.2 Intrinsic camera calibration

6.3 Intrinsic calibration of stereo cameras

6.4 Using OpenCV with ROS

6.4.1 Example OpenCV: finding colored pixels

6.4.2 Example OpenCV: finding edges

6.5 Wrap-Up

INTRODUCTION

Cameras are commonly used with robots. To interpret camera data for purposes of navigation or grasp planning, one needs to interpret patterns of pixel values (intensities and/or colors) and associate labels and coordinates with these interpretations. This chapter will introduce conventions for camera coordinate frames in ROS, camera calibration, and low-level image-processing operations with OpenCV. Extensions to 3-D imaging are deferred to ...