## page was renamed from imaging_pipeline
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 * New source for Groovy and above development: git https://github.com/ros-perception/image_pipeline

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== 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 [[image_pipeline/CameraInfo|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 [[openni_kinect|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 [[image_view#stereo_view|stereo_view]] tool for viewing stereo pairs and disparity images.

## == Tutorials ==
## <<FullSearch(title:"image_pipeline/Tutorials/")>>

== 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:

{{{
#!clearsilver CS/NodeAPI
name = Generic camera node
pub {
  0.name = image_raw
  0.type = sensor_msgs/Image
  0.desc = The unprocessed image data.
  1.name = camera_info
  1.type = sensor_msgs/CameraInfo
  1.desc = Contains the camera calibration (if calibrated) and extra data about the camera configuration.
}
srv {
  0.name = set_camera_info
  0.type = sensor_msgs/SetCameraInfo
  0.desc = 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.

== Report a Bug ==
<<TracLink(ros-pkg image_pipeline)>> 

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