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README.md

minorucam

A ROS node that processes stereo images from two usb webcams, such as Minoru.

Depending on various options defined in camera.launch, it can generate and broadcast the following ROS topics:

  • raw (left) image
  • disparity image
  • point cloud
  • laser scan

The software is based on original work of Bob Mottram and Giacomo Spigler (fuzzgun@gmail.com) called v4l2stereo, which was part of Sentience project: https://code.google.com/archive/p/sentience/wikis/MinoruWebcam.wiki and https://github.com/bashrc/libv4l2cam

The node implements ELAS dense stereo algorithm. More info at: http://www.cvlibs.net/software/libelas/

To remove dependance on SSE instructions and make it run on Raspberry Pi, this code uses contributions of Ralph Campbell: https://github.com/RalphCampbell/v4l2stereo_no_sse


More info about the project is here: https://BoredomProjects.net/index.php/projects/robot-navigation-using-stereo-vision