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

• https://www.openmp.org/

Boost

• https://www.boost.org/

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