Bumblebee XB3 Stereo Vision
Can someone give me a tutorial or a example for using the PTGrey's Bumblebee XB3 Stereo Vision camera...?
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Hi, I created a simulation using Jackal robot from clearpath that has already a bumblebee, in this case the version 2. You can see the video response here.
It has all the image topics running and you just have to start the stereo vision package. Fro that I used the ROS package stereo_image_proc. It can be used for any stereo vision camera. You may have to tweek the parameters, but in the case of the bumblebee, it worked out of the box.
So there are two steps to have it all working:
<launch>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="" respawn="true">
<remap from="left/image_raw" to="/front/left/image_raw" />
<remap from="left/camera_info" to="/front/left/camera_info" />
<remap from="right/image_raw" to="/front/right/image_raw" />
<remap from="right/camera_info" to="/front/right/camera_info" />
</node>
</launch>
And here is the launch file for the disparity Gui.
<launch>
<node pkg="image_view" type="stereo_view" name="" respawn="true" output="screen">
<remap from="stereo" to="/"/>
<remap from="image" to="image_rect"/>
</node>
</launch>
Hoped it was usefull ;) .
Asked: 2016-05-18 14:30:13 -0500
Seen: 1,489 times
Last updated: May 01 '18
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