The ROS image pipeline is run with the image_proc
package. It provides all the conversion utilities to obtain monochrome and color images from the RAW images acquired from the camera. In the case of FireWire cameras, which may use a Bayer pattern to code the images (actually in the sensor itself), it de-Bayers them to obtain the color images. Once you have calibrated your camera, the image pipeline takes the CameraInfo
messages, which contain the de-Bayered pattern information, and rectifies your images. Here, rectifies means to undistort the images, so it takes the coefficients of the distortion model to correct the radial and tangential distortion.
As a result, you will see more topics for your camera in its namespace. In the following screenshots, you will see the image_raw
, image_mono
, and image_color
topics that show the RAW, monochrome, and color images, respectively:
The monochrome image in the following screenshot is, in this case, the same as the RAW one, but...