Chapter 10: Programming Vision Sensors Using ROS, OpenCV, and PCL
In the previous chapter, we discussed how to interface sensors and actuators using I/O boards in ROS. In this chapter, we are going to discuss how to interface various vision sensors in ROS and program them using libraries such as Open Source Computer Vision (OpenCV) and Point Cloud Library (PCL). The robotic vision is an important aspect of any robot for manipulating objects and navigating the environment. There are lots of 2D/3D vision sensors available on the market, and most of these sensors have driver packages to interface with ROS. First, we will discuss how to interface vision sensors with ROS and how to program them using OpenCV and PCL. Finally, we will discuss how to use fiducial marker libraries to develop vision-based robotic applications.
We will cover the following topics in this chapter:
- Understanding ROS – OpenCV interfacing packages
- Understanding ROS – PCL interfacing...
