Perception Resources

3D Camera Topics

The API for the 3D camera is documented under 3D Camera Interface.

Some resources for accessing and processing camera data are:

• OpenCV is a generic computer vision library which has good support within ROS.
• Point Cloud Library allows manipulation of 3-dimensional images, or point clouds.
• cv_bridge is a ROS package that allows converting ROS image messages into OpenCV data structures in C++ or Python.
• pcl_conversions is a ROS package for converting between ROS PointCloud2 messages and PCL data types in C++.
• pcl_ros is a ROS package that contains several nodelets for commonly used PCL components such as voxel grid filters for downsampling a point cloud or pass through filters for filtering out data beyond a certain distance.
• visp_ros ViSP standing for Visual Servoing Platform is a modular cross platform library that allows prototyping and developing applications using visual tracking and visual servoing technics.
• ar_track_alvar This package is a ROS wrapper for Alvar, an open source AR tag tracking library.