image_pipeline
This package fills the gap between getting raw images from a camera driver and higher-level vision processing.
Documentation is hosted in the ROS 2 API docs. The image_pipeline documentation includes an overview, details on camera_info, and links to the documentation for each individual package.
Not every aspect has been ported to the new ROS 2 API documentation yet, so there is still additional (partially outdated) information in the ROS wiki entry.
