This test was inspired by this issue discussion:
To run this test you need stereoscopic setup with Raspberry Pi Compute Module.
You can use StereoPi board or Raspberry Pi CM3 devboard with 2 Pi cameras.
Tests was performed on Ubiquiti Robotics image https://downloads.ubiquityrobotics.com/pi.html
How to use:
Enable camera support in Raspbian (raspi-config)
Put all files in home folder
Run Wezzoid's publisher:
- Run stereoscopic processing:
ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc
- To visualize results run:
rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color
- For adjusting depth map settings in a real time run:
rosrun rqt_reconfigure rqt_reconfigure
UPD> To run steps 2, 3, 4 and 5 use new terminal instances. That is after all steps you should have 4 opened terminals with all scripts running.
UPD 2> Looks like we can have raspicam_node with the native stereoscopic support. https://github.com/UbiquityRobotics/raspicam_node/issues/41#issuecomment-552142081