Name: stereo_utils
Owner: Aerial Robotics Kharagpur
Description: A package for calculating depth map
Created: 2015-10-01 12:58:44.0
Updated: 2015-10-14 14:11:45.0
Pushed: 2015-12-09 10:06:22.0
Homepage: null
Size: 0
Language: C++
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Clone the camera_umd package
t clone https://github.com/ktossell/camera_umd.git
Update parameters in camera_umd/uvc_camera/launch/stereo_node.launch (Eg- Turn off Auto exposure, Auto focus and set left/device and right/device accordingly)
Turn on the camera drivers
slaunch uvc_camera stereo_node.launch
Calibration step
srun camera_calibration cameracalibrator.py --size 9x6 --square 0.026 right:=stereo/right/image_raw left:=stereo/left/image_raw left_camera:=/left right_camera:=/right
Here 9 and 6 are the number of internal nodes. For a 10 * 7 checkerboard pattern, it is 9*6, and if length of side of square is 26 mm, enter param as 0.026
Calculate disparity and publish it
OS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc
Run the code to get the depth of an object filtered by HSV color filter
srun stereo_utils/Get_Depth