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camera_node's Introduction

Camera

A ROS node that processes data received from TeensyCam - stereo camera module.

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

  • raw (both left and right) images
  • rectified images
  • disparity image
  • depth image
  • camera_info for the above images
  • point cloud
  • emulated laser scan

This node makes use of LIBELAS dense stereo library, specifically its OpenMP-version.

Prerequisites

Serial Communication Library by William Woodall

  • get from here: https://github.com/wjwwood/serial
  • before make, change install location: cmake -DCMAKE_INSTALL_PREFIX=/opt/serial
  • enable access to serial device: sudo gpasswd --add ${USER} dialout
  • add to ~/.bashrc: source /opt/serial/setup.bash

OpenCV

  • Version 2.4 or higher

OpenMP

Boost

More info about the project is here: https://BoredomProjects.net/index.php/projects/robot-navigation-using-stereo-vision-part-2

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