What to publish from a new camera driver

asked 2011-11-15 16:03:54 -0500

updated 2011-11-16 02:32:13 -0500

joq
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Hi! im want to write camera driver for ROS. and got some question: ive read page about ROS camera drivers and did not understand - what type of image have to publish driver: as is image or undistored image (if the camera/camera_info was given)?

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It's not clear what you want to know. Are you asking what _you_ need to publish if you write a new camera driver? Are you asking what existing drivers publish?

Mac ( 2011-11-15 17:10:48 -0500 )edit

thanks! yes - im want to write camera driver for ROS (update question)

noonv ( 2011-11-15 17:15:55 -0500 )edit

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answered 2011-11-15 17:19:03 -0500

Mac

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Based on the camera drivers wiki page and the first few lines of the image pipeline wiki page, you should publish raw (distorted) images, or the closest thing your camera's API can provide. A user would almost certainly pass these to various parts of image_pipeline to get undistorted, debayered, etc. images for their particular application.

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i see. Thanks!

noonv ( 2011-11-15 17:21:42 -0500 )edit

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answered 2011-11-16 02:31:27 -0500

joq
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In addition to what @Mac said, camera drivers should publish CameraInfo messages. The best way to do that is using the camera_info_manager and image_transport packages.

The ROS drivers SIG has identified the need for a REP to fully answer this question. Meanwhile, there are other related questions on answers.ros.org, most with the camera_drivers tag.

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ok. Thanks!

noonv ( 2011-11-17 04:56:52 -0500 )edit

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What to publish from a new camera driver

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