Difference: Rtabmap (13 vs. 14)

How to Use Display Disparity on Pioneer3DX

1. 1. In terminal, within the directory of the file, mv raw_decimate.launch /opt/ros/indigo/share/image_proc/launch && mv resize.launch /opt/ros/indigo/share/image_proc/launch

• Execution:
  1. On the robot, run the stereo_camera node.

• • • (worse image) for 10 FPS on the robot and 5 FPS on the server, set decimation_x and decimation_y to value="4" for both left_decimator and right_decimator
    • (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set decimation_x and decimation_y to value="2" for both left_decimator and right_decimator
  1. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
     

1. To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
2. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
   
3. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera

• There's more information at the following links:
  • http://wiki.ros.org/stereo_image_proc