How to Use Display Disparity on Pioneer3DX

• Set up:
  1. Required packages:
     • sudo apt-get install ros-indigo-rtabmap-ros
     • sudo apt-get install ros-indigo-stereo-image-proc
     • sudo apt-get install ros-indigo-image-pipeline
  2. Camera MUST be calibrated
  3. Download launch files on the bottom.
  4. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
  5. 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.
  2. In the new terminal, roscd image_proc && cd launch && roslaunch raw_decimate.launch
     • (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
  3. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
     
  4. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
     • OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
     • ELSE please adjust according to the image of the parameters on the bottom
  5. Optional (disparity to depth -- not tested yet):
     1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
     2. Run roslaunch rtabmap_ros disparity_to_dep.launch

1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera_crop image:=image_rect"
2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
3. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
   
4. 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
  • http://wiki.ros.org/rtabmap_ros

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