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Quick test of DM building in ROS
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README.md

StereoPi-ROS-depth-map-test

This test was inspired by this issue discussion:

https://github.com/UbiquityRobotics/raspicam_node/issues/41

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:

  1. Enable camera support in Raspbian (raspi-config)

  2. Put all files in home folder

  3. Run Wezzoid's publisher:

python wezzoid_publish_nodes.py

  1. Run stereoscopic processing:

ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc

  1. To visualize results run:

rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color

  1. 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

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