README.md · ShenHaoyuan/StereoCamera for ROS

# Stereo Camera for ROS

### Usage:

1. #### Create directories

`mkdir -p ws_stereo_camera/src`

2. #### Initialize workspace

in src directory:

`catkin_init_workspace`

in workspace directory:

`catkin_make`

3. #### Create stereo_camera package

in src directory:

`catkin_create_pkg stereo_camera cv_bridge image_transport roscpp rospy sensor_msgs camera_info_manager`

in workspace directory:

`catkin_make`

`source devel/setup.bash`

4. #### Run stereo_camera nodes
    There are two ROS nodes you can run:
    - image_publisher: There are several ways to run image_publisher:
      1. Use source from usb-camera via ImageCatcher, please enable \(uncomment\) the code `runWithImageCatcher()` in image_publisher.cpp.
         Remember to disable other usage of source \(like StreamFactory or republish\).
         Specify the parameters refer to composite_publisher in function `runWithImageCatcher()`.
      2. Use source from image files.
         
         Firstly you should write a config file of StreamFactory like `stream-factory.json`.
         Then enable the code of `runWithStreamFactory()`.
         Finally, run the image_publisher node with parameter `stream_factory_config` and set the value to the path of config file.
      3. Use source from a composite image topic. Just enable `runWithRepublish()`, and specify the `compositeTopic`, it will subscribe the topic and publish split frames in topic callback.
    - composite_publisher: While an origin image contains left frame and right frame simultaneously, you can directly publish the composite frame via this node.
      
      In the source code composite_publisher.cpp, instructor of ImageCatcher receive parameters include:
      
      1. deviceID: which means your usb-camera id.
      2. width & height: specify the frame size. For an instance of a frame contains both left and right, 
         and the size of each frame is 1920x1080, the w & h should be specified as 1920*2 and 1080.
      3. pixelFormat: refer to cv::VideoCapture::CAP_PROP_FOURCC

ShenHaoyuan/StereoCamera for ROS

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ShenHaoyuan/StereoCamera for ROS