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stereo_utils

A package for calculating depth map

  1. Clone the camera_umd package 

    $ git clone https://github.com/ktossell/camera_umd.git

  2. 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)

  3. Turn on the camera drivers

    $ roslaunch uvc_camera stereo_node.launch

  4. Calibration step

    $ rosrun 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

  5. Calculate disparity and publish it

    $  ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc

  6. Run the code to get the depth of an object filtered by HSV color filter

    $ rosrun stereo_utils/Get_Depth